User Manual Inclinometers with Canopen-Interface
Contents
1. TURGK Industrial Automation USER MANUAL INCLINOMETERS WITH CANOPEN INTERFACE B2N10H Q42 CNX2 2H1150 B2N45H Q42 CNX2 2H1150 B2N60H Q42 CNX2 2H1150 Sense it Connect it Bus it Solve it All brand and product names are trademarks or registered trade marks of the owner concerned Edition 03 10 Hans Turck GmbH M lheim an der Ruhr All rights reserved including those of the translation No part of this manual may be reproduced in any form printed photocopy microfilm or any other process or processed duplicated or distributed by means of electronic systems without written permission of Hans Turck GmbH amp Co KG M lheim an der Ruhr Subject to alterations without notice 0 About this manual Industr A 0 1 Documentation Concept auis even duke kVE rbi ro E in ER ID UO OR i RR RO ER RO E eR EV E a RR a ae 2 0 1 1 Explanations of the used symbols 01 0nnnennnnvn navn nnnn navn eene nnne nennen nnne nnne nnns nne nnne ann nnn nnn 2 0 2 General INTOFMAUON Pe 3 02 1 aso a HUI eet 3 0 2 2 Information for project planning installation of product nrrrnnneennunennenennanen annan nnne annae 3 D101846 0310 Inclinometers About this manual 0 1 Documentation concept The first chapter of this manual contains an overview of the TURCK Inc2. Object register 5 4 Object register Industr A The object register of the inclinometers is divided into three parts communication parameters manufacturer specific portion profile specific portion The existing parameters can be read and written via the Standard SDO and index subindex Parameter changes become immediately valid with the exception of the Node ID 2000h and the Baud rate 2001h The following paragraphs provide a description of all parameters in the object register of an inclinometer including index subindex data type access rights and standard value manufacturer default setting The column Store identifies whether a parameter can be stored in the internal non volatile memory buffer write save signature in OR index 1010h 01h 5 4 1 Communication parameters per CiA DS 301 Table 2 Communicati on parameter in the object register Index 1000h 1001h 1002h 1003h 1005h 100Ah 100Ch 100Dh 1010h 1011h 1014h Sub Parameter index 0 Device type device profile 410 two axes 0 Error register 0 Manufacturer status register Predefined error field 0 Number of error entries 15 Error code oldest error in highest index 0 COB ID SYNC message 0 Software version xyy 0 Guard Time a multiple of 1 ms 0 Lifetime factor Store parameters 0 Highest supported subindex 1 Store all parameters signature save 657661 73h Reload manufacturer default setting 0 Hig
3. synchronized Send after receipt of SYNC telegram one Service Data object Standard SDO error messages per emergency object EMCY with the help of the general error register the manufacturer specific status register Manufacturer Status the error list Predefined Error Field monitoring mechanism Heartbeat as well as Nodeguarding Lifeguarding storage and reload function of all parameters Store and Load Parameter Field status and error display per two color LED per CiA DR 303 3 Next to the CiA DS 301 functionality additional manufacturer or rather profile specific characteristics exist setting of Node ID as well as Baud rate per OR freely configurable limit frequency digital filter configuration of minimal change of angle for TPDO1 send event optional monitoring of internal device temperature direction switch of inclinometers D101846 0310 Inclinometers Send PDO TPDO1 Industr A 5 2 Send PDO TPDO1 Each inclinometer has exactly one Send Process Data Object TPDO It contains the current inclination values longitudinal and lateral as well as the internal device temperature PDO mapping of measurement values is fixed as displayed in Table 1 Table 1 Data portion of CAN telegram of the TPDO1 PDO mapping of TPDO1 Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Inclination value Inclination value Internal Not used longitudinal X axis lateral Y axis tem
4. A fieldbus is recognized for high transmission integrity and real time behavior FRAM Ferroelectric Random Access Memory A non volatile electronic storage type based on crystals with ferroelectrical characteristics is called FRAM Guard COB ID Identification number for Nodeguarding This COB ID is fixed and can not be changed Guard Time The request interval time display in milliseconds to be expected from the network slave during Nodeguarding Heartbeat The Heartbeat protocol is used to monitor the operating ability of other CANopen bus participants With the help of the Heartbeat signals the CANopen node signals to all CANopen network participants that it is ready for operation even when no data transfer has occurred for an extended period of time The failure of a CANopen node can be registered by all participants The Heartbeat Producer Time determines the Heartbeat cycle time Hexadecimal h Number system with the basis 16 The count starts at 0 and ends at 9 and continues with the letters A B C D E and F IEC 61131 IEC 61131 is an international standard which addresses the basic principles for controllers programmable from memory Inhibit Time Minimum off period for sending With the help of Inhibit Time an off period between two signals is defined so that the bus is not continuously occupied by high priority messages Is only supported for TPDOs Initialization During initialization verb to initialize the
5. Manufacturer status register 1002h Seite 5 8 and Predefined error field 1003h Seite 5 9 D101846 0310 Inclinometers Object register Industr A 5 4 3 Profile specific portion per CiA DSP 410 Table 9 Index Sub Parameter Data Access Standard Store Profile index type value Specific portion of the object register 6000h 0 Resolution a multiple of UNS16 ro Typical 0 001 6010h 0 Inclination value longitudinal INT16 ro X axis hundredfold angle value in gt gt TPDO1 6011h O Inversion longitudinal UNS8 rw 0 X activate deactivate 1 0 6020h 0 Inclination value lateral INT 16 ro Y axis hundredfold angle value in gt gt TPDO1 6021h 0 Inversion lateral activate UNS8 rw 0 X deactivate 1 0 Inclination values longitudinal and lateral 6010h and 6020h The current angle values of the inclination axes are accessible via SDO access to the object register in every device mode as well as via TPDO The recalculation of the hundredfold signed 16 bit inclination value two s complement is as follows Example Value of 6010h 2370 100 23 70 Stop inversion 6011h and 6021h Reassignment of the mathematical prefix of the inclination value is made possible by the operating parameter settings of an inclinometer 6011h and 6021h This option is deactivated per manufacturer default this means the direction of the angle value polarity of the axes corresponds to the mapping di
6. coded The pin assignment meets CiA DR 303 1 Diagram 1 and Table 1 Figure 1 M12 connector assembly T S 3 1 shield 5 CAN L 4 CAN H Table 1 Pin Signal Assignment Pin assignment 1 CAN SHLD Shield 2 CAN V Supply voltage 24 VDC 3 CAN_GND GND 4 CAN_H CAN_H bus line 5 CAN_L CAN_L bus line 4 2 D101846 0310 Inclinometers Bus termination resistance Industr 4 2 Bus termination resistance The inclinometers are not equipped with an internal termination resistance If needed it is to be realized externally with the help of a T piece at the end of the bus 120 Q D101846 0310 Inclinometers 4 3 Electrical connection D101846 0310 Inclinometers 5 1 5 2 5 3 5 3 1 9 3 2 5 3 3 5 3 4 5 4 5 4 1 5 4 2 5 4 3 5 5 5 6 5 6 1 5 6 2 5 7 5 8 5 9 Industr A CANopen interface REVIEW OF TUNGEONS e T Rm 2 Send PDO TPDOT 0 un a dd Fa 3 PDO communication WP amp 5 u nie 4 Individual request per Remote Transmit Request telegram RTR errvnnevenneennee nene nennen 4 Cyclic operating Mode oid anand a acd t d utt vt Dna D xd LUCUS d 4 Event driven Send when angle has changed ccccescecceeeeceeeeceeeceueeceueesaeesseeeseeeesageesaueeseeeesneeeseeens 4 Synchronized Send after receipt of a SYNC telegram cccccesecceseeceeeeeseeeecaeeecaeesaeeeseueesaueesneesneesees 4 ODJect
7. register avs vvs E Pav Ed RAE a TEES MUN jaaa aan ma 5 Communication parameters per CIA DS 301 0nnunennuve nunna nane nennen anne nenn nnne nn nnne nennen 5 s Enor register T001 c T Manufacturer status register 1002h 0nnnnennnnvennnne vana nnanennunennanennnnennnnnennanennanannane anne 7 Predefined error field 1003h 8 Parameter storage 1010h and reload 1011 cece cecceceseeceeeeceeeeceeeeeseeeeseeeeseueesaeeesaeeesaneessneess 8 Transmit PDO1 Transmission type 1800h ennnvennnvennane nunn nnanennnne nunn nnan anname nnanen nan 9 Manufacturer specific part 0nvunenuvenveennav nenne nennen nenne nnne anne nnne anane nna nies rasis nsa nnaennanennne nennen 9 Node ID 2000h and Baud rate 2001h nnivvnnunennunen tune nnnnen annae nnnnennnnennan annan n nnan annan 10 Limit frequency digital filter 3000h nnnnvenunvenusvennnve nennen vana nnnnnnann emane enne n anra nennen 10 TPDO1 Send when angle has changed 3001h nn nvnnnvennnnvannnne nenne nenne nenne nnne nnns 10 Internal device temperature 5000h 0n nennuvennave nenne anne anne nenn nenne nenne nenne nnn nnne nennen 11 Monitoring of internal device temperature 500 1h nnnvnnnuv
8. reset status or there is no power supply The device is in the pre operational status The device is in the stopped status The device is in the operational status Description The device operates error free Error counter CAN controllers has reached the alarm threshold or overreached it The device recognized failure of the guarding master Node Guard Event The device is in the bus off status 5 17 CANopen interface 5 9 EDS files An electronic data sheet EDS file is available for each inclinometer download free of charge from the internet under http www turck com It contains a complete description of the object register and can be easily added to a CANopen project planning software 5 18 D101846 0310 Inclinometers Industr 6 Glossary B Baud rate Data transmission rate 1 Baud 1 Bit s m CAN Controller Area Network CANopen Standardized application layer for CAN devices CIA CAN in Automation membership corporation CIA DS CiA Draft Standard specification published by CiA CIA DS 301 Specification of CANopen application layer and the communication parameters in the OD CIA DP CiA Device Profile device profile published by CiA CIA DR CiA Draft Standard specification published by CiA CIA DR 303 3 Recommended implementation for the display of CANopen device states and errors per LED CIA DSP CiA Draft Standard specification published by CiA CIA D
9. storage slot for example variables code buffer needed for execution is reserved and filled with start values INTEGERS8 Data type INTEGER8 8 Bit two s complement 128 127 INTEGER16 Data type INTEGER8 16 Bit two s complement 32768 0 32767 D101846 0310 Inclinometers Industr IP International Protection The protection class IP defines the suitability of electrical equipment for example devices installation material for diverse environments and in addition it determines the suitability for protecting persons against potential danger during operation of the electrical equipment ri Lateral Assignment of axes Y axis Lifetime Factor This factor multiplied by the Guard Time determines the time that must pass after an error has occurred in the Nodeguarding protocol and before the error is signaled by the network slave per EMCY This is how a communication difficulty that has temporarily occurred for example high bus load can be attended to without guarding error Longitudinal Assignment of axes X axis Logistics Logistics describes integral planning control execution allocation optimization and monitoring of processes for moving goods data energy and persons as well as the needed transportation vehicles and equipment M Master The Master controls the access conditions during a Master Slave operation on the fieldbus level Mode Operating mode mode MSB Most Significant Bit Bit
10. the same CAN identifier contain the control Byte and up to seven Byte user data The receiver acknowledges each segment or a segment block so that a peer to peer communication Client Server takes place Stopped CANopen device mode SDO PDO EMCY NMT possible Transmission Type The transmission type determines under which circumstances a PDO will be sent or received UNS3 Data type UNSIGNED8 8 Bit unsigned 0 255 UNS16 Data type UNSIGNEDS 16 Bit unsigned 0 0 65535 UNS32 Data type UNSIGNEDS 32 Bit unsigned 0 0 4294967296 VSTR Data type VISIBLE STRING ASCII character string inclusive end identification Oh D101846 0310 Inclinometers Industr A D101846 0310 Inclinometers 6 5 Industrial Automation www turck com Hans Turck GmbH amp Co KG WitzlebenstraBe 7 45472 Mulheim an der Ruhr Germany Tel 49 0 208 4952 0 Fax 49 0 208 4952 264 E Mail moreQturck com Internet www turck com proves osso KNM
11. with the highest place value N NID Node ID Nodeguarding Monitoring of the network nodes with the help of a network manager is called nodeguarding In addition the CANopen network participants are used to check whether their network manager is still operating regularly and whether the network is still operating safely Nodeguarding is inactive in the default setting Different parameters must be set via the object register to activate a participant s nodeguarding protocol Node ID Node number of a CANopen device 1 127 NMT Network Management Object object to set and check CANopen device modes 0 Operational CANopen device mode SDO PDO EMCY NMT possible OD Object register virtual register with device parameters addressing per index and subindex P Parameterization Setting of parameters of single bus participants or better their modules in the configuration software of the DP Master D101846 0310 Inclinometers 6 3 Glossary 6 4 Preoperational CANopen device mode SDO PDO EMCY NMT possible Predefined Connection Set Formula defined in the CiA DS 301 and to be used to calculate the COB IDs of the communication objects in reference to the Node ID Process Data Objects PDOs Process data objects PDO are sent in a single CAN message Here all eight Byte of the data field can be used to send utilization objects Each PDO must have a clear CAN identifier and must only be sent by one device Ho
12. 02h at the time the error has 5000h hardware error occurred FFOOh device specific error The error list may be completely deleted by writing O into the entry 1003h 00h Store parameters 1010h and reload 1011h If parameters are changed in the OR the changes become immediately valid with the exception of Node ID 200h and Baud rate 2001h The changed parameters must be stored in the internal EEPROM so that they remain active after a reset By writing the signature save 657661 73h into the entry 1010h 01h all active parameters of the OR are sent to the non volatile memory buffer The OH may be reset to the manufacturer default via the entry 1011h 01h and by writing the signature load 64616F6CH into this entry Thus the default parameters are written into the non volatile memory buffer with the exception of the Node ID 2000h and the Baud rate 2001h After a reset application NMT command or rather a hardware reset the changes become valid if only a reset communication NMT command is sent only the default settings of the communication parameters become valid Note i After the save and load command a reset should not occur for a minimum time period of approx one second this ensures that the parameters are correctly stored in the EEPROM Storing device parameters in the internal EEPROM may take a relative long time This is why the save and load commands are immediately answered but storing is executed r
13. SP 410 Specification draft of the device profile 410 for inclination sensors Client CANopen participant with utilization access to a server COB CANopen Communication Object COB ID CAN identifier of a COB EI EDS electronic data sheet Electronic data sheets which must be written according to a standardized text format Configuration tools are suitable for reading EDS files for communicating with the respective device and for parameterizing it if needed D101846 0310 Inclinometers 6 1 Glossary 6 2 EEPROM Electrically Erasable Programmable Read Only Memory A non volatile electronic memory chip is called EEPROM An EEPROM consists of a field effect transistor matrix with isolated floating gate in which each transistor represents a Bit EMCY Emergency objects are triggered by a significant internal device error An emergency message can only be sent once for each error As long as the device remains free of additional errors no additional emergency objects are sent Error messages can be received by multiple emergency consumers The response of the consumers depends on the application CANopen defines Emergency Error Codes that are sent in the emergency object The emergency object consists of a single CAN message with eight Byte data supported by standard emergency frames EMCY per CiA DS 301 Fieldbus Data network on sensor actuator level The devices on the field level are connected to a control unit by a fieldbus
14. UNS32 UNS32 UNS8 UNS32 UNS8 UNS16 UNS8 UNS16 UNS8 Access Standard Store value rw 0 X rw 0 X ro A ro 159h ro typical ro typical ro typical ro 2 ro 600h NID ro 580h NID ro 5 ro 180h NID rw FEh X rw 0 rw 0 X rw 0 X X ro 3 X D101846 0310 Inclinometers Object register Table 2 Index Sub Communicati index on parameter in the object register 1 2 3 D101846 0310 Inclinometers Parameter Inclination value longitudinal X axis hundredfold angle value in Inclination value lateral Y axis hundredfold angle value in Internal temperature in C Data type UNS32 UNS32 UNS32 Access ro ro ro Industr A Standard Store value 60100010 h 60200010 h 50000008 h 5 7 CANopen interface Table 3 Error register 1001h Table 4 Manufacturer status register 1002h 5 8 Error register 1001h The error register displays the general error status of the device Each bit represents an error group If a Bit is set 21 at least one error of this group remains active at this time The content of this register is transmitted in each EMCY message The following error groups may occur Error register 1001h Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit O Not used Profile Not Temper Not used At least specific used ature one error error error active If the device remains in the error status at least one error a
15. antly impacts the busload of the CANopen network but only creates half the load compared to Nodeguarding Lifeguarding D101846 0310 Inclinometers 5 15 CANopen interface 5 7 COB IDs Table 10 Calculation of COB IDs per predefined connection set 5 16 The CAN identifiers of the communication objects are set according to the predefined connection set at each reset Communication application and hardware reset depending on the preset Node ID 2000h Table 10 displays the basis for calculation and the standard values Node ID 10 Communication object Calculation of COB ID Standard value Node ID 10 NMT Oh Oh SYNC 80h 80h EMCY 80h Node ID 8Ah TPDO1 180h Node ID 18Ah Standard SDO 600h Node ID 60Ah Client gt Server Standard SDO 580h Node ID 58Ah Server gt Client Heartbeat 700h Node ID 7OAh D101846 0310 Inclinometers Status LED per CiA DR 303 3 5 8 Status LED per CiA DR 303 3 Industr The built in two color LED displays the current device status Run LED green as well as CAN communication errors Error LED red that might have occurred The different states are displayed in Table 11 Table 11 Status LED Status and error display Run LED green LED status Off Blinking Simple short illumination On Error LED red LED status Off Simple short illumination Dual short illumination On D101846 0310 Inclinometers Description The device is in the
16. continually forming angle values insensitive against external interfering vibration With the help of a parameterizable low pass filter parasitic vibrations may be suppressed The limit frequency may be set individually between 0 3 and 25 Hz The digital filter inside the sensor is a Butterworth Low pass 8th Order Values of 300 0 3 Hz to 25000 25 Hz are thereby permissable The digital filter is deactivated by the value O TPDO1 Send when angle has changed 3001h Via the entry 3001h 01h the event driven Send of the TPDO1 can be activated 1 or rather deactivated 0 when the angle has changed For activation to occur the transmission type of the TPDO1 must be set to asynchronous manufacturer specific 1800h 02h 254 Subindices 02h and O3h are used to separately set the minimally needed angle change for longitudinal X and lateral Y axis These two angle values are provided in 100 hundredfold D101846 0310 Inclinometers 5 11 CANopen interface 5 12 angle value and may be freely set from 5 0 05 at 10 sensor or rather 10 0 1 at 45 and 60 sensor to 1000 10 If Send is activated when the angle changes the inclinometer while in Operational status will always reissue the TPDO1 when the inclination value of the longitudinal and or lateral axis has changed per the angle value preset under 3001h 02h and O3h Here the angle variations are always determined and checked between th
17. ctive it is displayed by set Bit O During active monitoring of the internal device temperature 5001h 01h 1 Bit 3 is set when set limit values 5001h 02h 03h have been underreached or rather overreached A profile specific error sensor error is displayed by Bit 5 Manufacturer status register 1002h This register displays the current status of all detectable errors Each bit represents a specific error If a Bit is set 21 thus this error is currently active The low order 16 bit of this register Bit 15 Bit 0 are sent in each EMCY message in the first two byte of the manufacturer specific portion and also entered into the additional information field bit 31 bit 16 of the predefined error field 1003h The following errors may occur Manufacturer status register 1002h Bit 31 Bit 8 Bit 7 Bit 5 Bit 4 Bit 3 Bit 1 Bit O Bit 9 Bit 6 Bit 2 Not EEPRO Not Temper Temper Not Lateral Longitu used MError used ature ature used sensor dinal overreac underre error sensor h ach error If an inclinometer has overreached a specifc angle threshold e g 45 or gt 45 at 45 sensor this error status is displayed in the respective error Bit Bit 0 longitudinal axis Bit 1 lateral axis The issued inclination value of this these axis axes is are automatically limited to the value range end value min or max and therefore should be considered erroneous at a larger inclination During active monitori
18. e actual inclination value and the angle value sent last via the TPDO1 Every time the status changes into Operational the inclinometer alerts to the current position by a singular send of TPDO1 only when 3001h 01h 1 Note i If small angle variations are to be entered under 3001h 02h and O3h activation of the digital filter index 3000h is recommended in order to avoid vibration interference and therefore the frequent issuance of the TPDO1 Internal device temperature 5000h The internal device temperature is redetermined every 500 ms and activated in the OR It can be read via SDO access to the object register in every device mode or per TPDO The signed 8 Bit value two s complement displays the temperature in C Monitoring of internal device temperature 5001h The internal temperature sensor can be used to monitor the internal device temperature This type of monitoring can be activated 1 or rather deactivated via the entry 5001h 01 Both temperature limit values are individually settable During activated monitoring and when an error occurs temperature underreach of the low limit value 5001h 02h or rather temperature overreach of the high limit value 5001h 03h an EMCY message with respective error code is generated and the error is entered into the error register 1001h the manufacturer status register 1002h as well as the error field 1003h Please refer to paragraphs Error register 1001h Seite 5 8
19. ennuve tune nnanen annan anne nennen nennen 11 Profile specific part per CIA DSP 410 ninennuvennnnennnnne nennen nnne anne nnnnnonnnne nenne nenne nnnnn nennen 12 Inclination values longitudinal and lateral 6010h and 6020h rnnunennenennanennanen nne 12 Stop inversion 601 1h and 6021h 0nnnrvnnnuvannane nenne anne nnne anne nnnnn nenn nenne nenne sse anrea nis 12 Emergency messages 0 a a YF VE IER 13 Falure Monitoring nee een ddmd 14 Nodequarding 7 LIHSEGUA AIG 5 id es bots Ho Eau een 14 5 GE 19 T J 14 COB IDS OI E E 15 Status LED per CIA BR 303 I een 16 EDS NES a a taani aaa aal a alia aa n i jahis ln KAAN aa aata aka aaa 17 D101846 0310 Inclinometers 5 1 CANopen interface 5 1 5 2 Review of functions The inclinometers are equipped with a standardized CANopen interface per CiA DS 301 and a device profile per CiA DSP 410 All measured values and parameters are accessible via the object register OR The individual configuration can be stored in the internal non volatile memory buffer EEPROM The following CANopen functions are available one Send Data object TPDO1 with four possible operating modes individual request per Remote Transmit Request telegram RTH cyclic Send per interval time event driven Send when angle has changed
20. etroactively and in addition to D101846 0310 Inclinometers 5 9 CANopen interface Table 6 Transmit PDO1 transmission type 1800h 02h Transmit PDO1 transmission type 1800h With the help of the entry 1800h 02h it can be determined how sending the PDOs is to be Initiated Transmit PDO1 transmission type 1800h 02h Transmission type 1 240 254 Description Synchronous cyclic Only synchronized transmission via SYNC possible Asynchronous manufacturer specific Cyclic operating mode and or send when angle has changed can be activated via respective configuration 5 4 2 Manufacturer specific portion Table 7 Manufacturer specific portion of the object register 5 10 Index Sub index 2000h 0 2001h 0 3000h 0 Parameter Data Access Standard Store type value Node ID 1 127 UNS8 rw 10 9 X Baud rate in kBit s UNS16 rw 500 X Limit frequency digital filter UNS16 rw 3000 X 0 2 deactivated or 300 25000 in mHz 3001h TPDO1 Send when angle has changed 0 1 5000h 0 Highest supported subindex UNS16 ro 3 X Send when angle has UNS16 rw 0 X changed activate deactivate 1 0 Minimal change of angle for UNS16 rw 100 X longitudinal X axis 5 10 1000 in 100 Minimal change of angle for UNS16 rw 100 lateral Y axis 5 10 1000 in 100 Current internal device INT8 ro temperature in C gt gt TPDO1 5001h Monitoring of internal device INT8 te
21. hest supported subindex 1 Reload all manufacturer default settings Signature load 64616F6Ch 0 COB ID emergency message D101846 0310 Inclinometers Data type UNS32 UNS8 UNS32 UNS32 UNS32 UNS32 VSTR UNS16 UNS8 UNS32 UNS32 UNS32 UNS32 UNS32 UNS32 Access Standard const ro ro rw ro rw const rw rw ro rw ro rw ro Store value 2019Ah 80h typical 0 X 80h NID 5 5 CANopen interface Table 2 Communicati on parameter in the object register 5 6 Index 1015h 1017h 1018h 1200h 1800h 1A00h Sub Parameter index 0 Off time between two EMCY messages a multiple of 100 us 0 Heartbeat interval time a multiple of 1 ms 0 deactivated Identity object 0 Highest supported subindex 1 Vendor ID 2 Product code 3 Hevision No 4 Serial No Server SDO1 parameter 0 Highest supported subindex 1 COB ID Client Server 2 COB ID Server Client Transmit PDO1 communication parameters 0 Highest supported subindex 1 2 COB ID Transmission type synchronous asynchronous manufacturer specific Off time between two TPDO messages a multiple of 100 us Compatibility entry Interval time for cyclic Send a multiple of 1 ms 0 deactivated Transmit PDO1 mapping parameter fixed mapping 0 Highest supported subindex Data type UNS16 UNS16 UNS8 UNS32 UNS32 UNS32 UNS32 UNS8
22. iew 1 4 D101846 0310 Inclinometers Industr A 2 Technical data 2 1 General interface electrical an mechanical parameters een nmn 2 D101846 0310 Inclinometers 2 1 Technical data 2 1 General interface electrical and mechanical parameters Table 1 General para meters Table 2 Interface characteris tics 2 2 General parameters Measurement axes Measurement ranges Resolution Calibration accuracy at 25 C Non linearity Temperature coefficient zero point Limit frequency Sample rate Operating temperature Interface characteristics Interface Bit rate Functions 2 X Y 10 x45 60 0 05 0 1 0 1 0 1 zero point and end values max 0 2 x0 3 0 4 Type 0 008 K Type 20 Hz 2nd order no digital filter 0 3 25 Hz 8th order with digital filter 100 Hz 40 80 C CANopen per CiA DS 301 profile per CIA DSP 410 10 kbps 20 kbps 50 kbps 250 kbps 500 kbps 800 kbps 1 Mbps TPDO RTR cyclic event driven synchronized parameterization per SDO and object register digital filter Butterworth Lowpass 8th order SYNC Consumer EMCY Producer output and control of internal device temperature 2 0 K accuracy failure control with the help of Heartbeat or Nodeguarding Lifeguarding D101846 0310 Inclinometers General interface electrical and mechanical parameters Table 3 Electrical paramete
23. linometers The second chapter contains all technical data The third and fourth chapters contain information for mounting and the electrical connection The fifth chapter contains information for the CANopen interface The glossary contains explanations for various CANopen specific terms 0 1 1 Explanations for the used symbols A Danger This symbol is positioned next to warnings which point to a source of danger This may refer to injury to persons and to damage to systems hard and software For the user this symbol means Please proceed with special care Attention This symbol is positioned next to warnings which point to a potential source of danger This may refer to possible injury to persons and to damage to systems hard and software and installations Note This symbol is positioned next to general instructions which point to important information prior to proceeding step by step The respective instructions may lighten the work and for example may help prevent extra work caused by the wrong course of action D101846 0310 Inclinometers General information Industr 0 2 General information Attention It is strongly recommended you read this section because safety in connection with handling electrical devices may not be left to chance This manual contains the required information for the start up of the TURCK Inclinometers It was written specifically for qualified staff with the
24. mory buffer TURCK offers the following sensors Tablel Type Inclination range Sensor types B2N10H Q42 CNX2 2H1150 10 B2N10H Q42 CNX2 2H1150 45 B2N60H Q42 CNX2 2H1150 60 Special characteristics m Biaxial inclinometers with measurement ranges 10 45 x60 depending on design High resolution and accuracy User friendly CANopen interface meets CiA DS 301 device profile CiA DSP 410 Baud rate of 10 kBit s to 1 MBit s High sample rate and bandwidth Parameterizable vibration suppression Functions one TPDO RTR cyclic event driven synchronized SYNC Consumer synchronized sending of TPDO after receipt of SYNC telegram EMCY Producer limit value exceedance device internal temperature check failure check with the help of Heartbeat or Nodeguarding Lifeguarding freely configurable limit frequency digital filter Robust plastic housing Suitable for industrial applications temperature range 40 C to 80 C housing protection class IP68 69K 1 2 D101846 0310 Inclinometers Applications Industr 1 2 Applications The inclinometers are based on MEMS technology micro electrical mechanical systems and offer diverse application solutions Machines and vending machines Vehicles and airplanes Harvesters agricultural machines and construction vehicles E Transportation devices D101846 0310 Inclinometers 1 3 Overv
25. mperature D101846 0310 Inclinometers Object register Industr Table 7 Index Sub Parameter Data Access Standard Store Manufacturer index type value specific portion of the object register 0 Highest supported subindex INT8 ro 3 1 Temperature monitoring INT8 rw 0 X activated deactivated 1 0 2 Low temperature limit INT8 rw 35 X in C 55 120 3 High temperature limit INT8 rw 19 X in C 55 120 5555h Reserved index except for manufacturer access A Node ID 2000h and Baud rate 2001h are not taken into consideration when default parameters load command are reset because otherwise the inclinometer would fail to respond Node ID 2000h and Baud rate 2001h must be manually reset to default values if needed Node ID 2000h and Baud rate 2001h After a change has occurred the Node ID and the Baud rate only become valid after a reset reset application reset communication and hardware reset This is why the two parameters must be transferred to the EEPROM with the save command 1010h 01 h after a change has occurred After a reset all COB IDs are recalculated and reset according to the predefined connection set The Baud rate is set in kbps Table 8 displays all permissible values Table 8 Supported Baud rates in kBit s Setting of Baud rates 2001h 10 20 50 125 250 500 800 1000 Limit frequency digital filter 3000h The inclinometer offers the possibility to render
26. ng of the internal device temperature 5001h 01h 1 bit 4 underreach and Bit 5 overreach display underreach and overreach conditions of the preset limit values 5001h 02h 03h When monitoring is deactivated both bits are O D101846 0310 Inclinometers Object register Table 5 Error entry in the predefined error field 1003h Industr The EEPROMError Bit Bit 8 displays a significant hardware error This bit is set when erroneous data is read from the EEPROM during storing or rather reloading device parameters 1010h 01h and 1011h 01h or after power on of an inclinometer Predefined error field 1003h Each inclinometer compiles an error list concerning the five errors that have occurred last The entry 1003h 00h contains the number of error entries in the error field All other subindices contain all occurred error states in chronological sequence the error that has occurred last may always be found under subindex O1h The oldest error may be found in the highest subindex value of 1003h 00h available and is removed first from the list when more than five errors have Occurred If an error occurs a new error entry is added to 1003h and an EMCY message is sent as well An erorr entry is structured as follows Error entry in the predefined error field 1003h Additional information field bit 31 bit 16 Error code bit 15 bit O bit 15 bit O of the manufacturer status 4200h temperature error register 10
27. pera OR 6010 h OR 6020 h ture OR 5000 h D101846 0310 Inclinometers 5 3 CANopen interface 5 3 PDO communication types 5 3 1 Individual request per Remote Transmit Request telegram RTR A request can be sent to TPDO1 anytime by sending a Remote Transmit Request telegram This is possible in all operating modes of the inclinometer 5 3 2 Cyclic operating mode Cyclic sending of TPDO1 is activated if the entry 1800h 05h interval time in milliseconds contains a value greater than O For this purpose the entry 1800h 02h transmission type must contain the value 254 asynchronous manufacturer specific In the Operational mode the inclinometer cyclically sends the TPDO1 with the set cycle duration time 5 3 3 Event driven Send when the angle has changed The bus load caused by PDOs can be decreased by only sending the TPDO1 when the angle has changed accordingly This function can be configured under the index 3001h in the manufacturer specific portion of the object register For this purpose the entry 1800h 02h transmission type must contain the value 254 asynchronous manufacturer specific 5 3 4 Synchronized Send after receipt of a SYNC telegram For the synchronized transmission the SYNC object is made available by CANopen here the TPDO1 is sent after each nth receipt of a SYNC telegram For this purpose the entry 1800h 02h transmission type must contain the value n 1 240 5 4 D101846 0310 Inclinometers
28. required technical know how 0 2 1 Intended use A Danger The devices described in this manual may only be used for the intended applications also found in this manual and in the respective technical description and only in connection with certified OEM devices and OEM components The flawless and safe operation of the devices is based on the appropriate transport storage assembly and mounting as well as careful operation and maintenance 0 2 2 Information for project planning installation of product A Danger The valid safety and accident prevention rules for the respective application must be adhered to D101846 0310 Inclinometers 0 3 About this manual 0 4 D101846 0310 Inclinometers Industr A 1 Overview 1 1 CAPAC EON 1S UIC aaa aaa EE OE 2 1 2 ADDIICALIONS pt 3 D101846 0310 Inclinometers 1 1 Overview 1 1 Characteristics The biaxial inclinometers are suitable for measuring inclinations within the ranges 10 45 and 60 The zero point and measurement range end values are factory calibrated at 25 C to guarantee high accuracy The compact and robust design transforms the sensor into a suitable angle measurement device in a harsh environment and for diverse industrial and automotive engineering applications The standardized CANopen interface allows user friendly configuration and start up All parameters are stored in a non volatile me
29. rs Electrical parameters Power supply voltage Current consumption Table 4 Mechanical parameters Mechanical parameters Connection CAN Housing protection class Shock resistance Weight D101846 0310 Inclinometers Industr 10 30 VDC The inclinometer must be supplied with the help of a car battery or a safety low voltage SELV with limited power 40 105 mA Sensor connector assembly M12 5 pole IP68 69K max 30 g 11 ms approx 160 g 2 3 Technical data 2 4 D101846 0310 Inclinometers Industr A 3 Mounting 3 1 Dimensional ArAWING a a aa re 2 3 1 1 Definition of the axes factory default nvrvnnnnve nenne vana anne nenne nnne nenne nenne nenne nenne nnn nnne nnns 2 D101846 0310 Inclinometers 3 1 Mounting 3 1 Dimensional drawing Figure 1 Dimensional drawing 3 1 1 Definition of the axes factory default Figure 2 Axes Definition 3 2 D101846 0310 Inclinometers Industr A 4 Electrical connection 4 1 Pin assignment of connector assembly arararavanavnnnnnnnnnnnnnnnnnnnnnnnnvnnnnnvnvnvnvavnvavnvavavavavavavavavavnve 2 4 2 Bus termination resistance ncs euuauuusuuuuuuusuRuuuRRRRRRRRRRRRRRRRRRRRRRRRSERRRERRSSRESERERERENSRERERERRERRRERSSS 3 D101846 0310 Inclinometers 4 1 Electrical connection 4 1 Pin assignment of connector assembly The inclinometers are equipped with a 5 pole round connector M12 A
30. splayed on the type plate of the device D101846 0310 Inclinometers 5 13 CANopen interface 5 5 Emergency messages Each inclinometer supports EMCY messages which are sent in case of sensor temperature hardware or guarding errors If one of these errors occurs the OR entries 1001h Error Register 1002h Manufacturer Status Register and 1003h Predefined Error Field are activated please refer to paragraphs Error register 1001h Seite 5 8 Manufacturer status register 1002h Seite 5 8 and Predefined error field 1003h Seite 5 9 After an error has been corrected the device sends an EMCY message with the error reset code Oh and the current status of the error register as well as the manufacturer status register The current device status pre operational operational or stopped is not impacted by the error states except by the guarding error 5 14 D101846 0310 Inclinometers Failure monitoring Industr 5 6 Failure monitoring Failure monitoring functions Heartbeat as well as Nodeguarding Lifeguarding are available because the nodes in a CANopen network with event driven transmission do not respond on a regular basis Only one of two monitoring methods can be used 5 6 1 Nodeguarding Lifeguarding Nodeguarding describes the monitoring of one or more nodes by the NMT master For this purpose the NMT master periodically sends a RTR telegram to the slave to be monitored which will respond with a
31. status or a toggle bit If the status or toggle bit do not correspond to the one the guarding master expects to receive or if no response is sent the master assumes an error by the slave With the help of this mechanism the node to be monitored is able to also recognize when the guarding master fails Here two parameters are used The interval time the guarding master uses to send a request to the inclinometer to be monitored is the guard time 100CH A second parameter the Life Time Factor 100Dh defines a multiplicator after which the connection is regarded as being interrupted This time interval is described as lifetime of the node Node Lifetime Node Lifetime Guard Time x Lifetime Factor In case the inclinometer does not receive a guarding request from the master during this parameterized time interval it assumes that the master has failed sends an emergency telegram and resets to the pre operational status In case one of both parameters is O default setting monitoring of the master will occur no lifeguarding 5 6 2 Heartbeat Heartbeat is a failure monitoring mechanism which functions without RTR telegrams For this purpose the inclinometer cyclically sends a Heartbeat message which contains the status of the device The master is able to monitor these telegrams Heartbeat is activated as soon as a value greater than 0 is entered into the register Heartbeat Interval Time 1017h Note i Heartbeat signific
32. wever it can be received by multiple devices Producer Consumer communication PDO transmissions can be triggered by an internal event event driven also by an internal timer timer driven or by a request from another device Repeater In regards to digital communication technology the repeater is a signal generator which receives a signal in the Bit transfer layer then reprocesses and resends it Noise as well as jitter of the run time and the pulse form are removed from the received signal with this type of processing RTR Remote Transmission Request A set RTR Bit Remote Transmission Request identifies a remote frame recessive A participant may send a data transfer request to another participant with the help of a remote frame Server CANopen participant which offers a service for one multiple client s SDO Service Data Objects A service data object SDO reads data from the object register or writes data to the object register The SDO transport protocol is suitable to send objects of different sizes The first Byte of the first segment contains the needed flow control information Among others it contains a toggle Bit to solve the problem of CAN messages that were received twice The next three Byte of the first segment contain the index and subindex of the entry into the object register to be read or written The last four Byte of the first segment are available for user data The second and the following segments which utilize
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