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1. 2 Allindicated angle accuracies are valid after a running time of 10 minutes at 25 C Cut off frequency 0 3 Hz Absolute calibration accuracy at 25 C 0 05 Document 230xx HB 1 0 E ISxxxxxx C xL gt GEMAC Sensorik Messtechnik ASIC Design 3 Technical Data IS1BP360 C CL IS2BP090 C CL Electromagnetic Compatibility EMC Transient Emissions Radiated disturbance Radio field strength Limit curves broadband and narrowband EN ISO 14982 agricultural and forestry machinery respectively EN ISO 13309 construction machinery 30 1000 MHz vertical and horizontal Immunity to Radio Frequency Fields RF fields Strip line according to ISO 11452 5 Limits according to EN ISO 14982 agricultural and forestry machinery respectively EN ISO 13309 construction machinery 20 400 MHz 200 V m 1 KHz AM Performance criteria A Anechoic chamber according to ISO 11452 2 Limits according to EN ISO 14982 agricultural and forestry machinery respectively EN ISO 13309 construction machinery 200 1000 MHz vertical 400 1000 MHz horizontal 100 V m 1 KHz AM Performance criteria A Immunity to Conducted Disturbances on board power supply 24 VDC Test pulse according to ISO 7637 2 2004 Test pulse Severity level Performance criteria 1 450 V Ill C 2a 37 V Ill B 2b 20 V II C 3a 150V Il A 3b 150 V ll A 4 12V III B 5a 70 V Ri 1Q A 5b 36 V Ri 20 50 A Immunity to Electromagnetic Discharge ESD ESD
2. ISxSPxxx C BL Compensated temperature coefficient for ISxTKxxx C RL 10x improved temperature coefficient to ISxBPxxx C CL Compensated cross sensitivity Programmable vibration suppression Comfortable CAN Bus interface m Freely selectable IDs Baud rates from 10 kBit s to 1 MBit s Automatic baud rate detection Functions Position request cyclical output synchronized output Configurable cut off frequency digital filter Metal housing with stainless steel base plate or UV resistant impact strength plastic housing Suitable for industrial use Temperature range 40 C to 80 C Degree of protection IP65 67 The inclination sensor IS1xx360 C xx is suitable to measure the inclination in the measurement range of 360 The 2 dimensional inclination sensor IS2xx090 C xx is suitable to measure the inclination in 2 dimen sions X Y in a of 90 To ensure a high accuracy the sensors are calibrated at the factory The compact and robust design makes the sensor a suitable angle measurement device in rough surround ings for different applications in industry and automotive technology A simple setting of all parameters is possible by the standardized CAN Bus interface 1 2 Applications Solar thermal and photo voltaic systems Agricultural and forestry machinery Construction machinery Crane and hoisting technology Document 230xx HB 1 0 E ISxxxxxx C xL 1 GEMAC 2 Technical Data IS1TK360 C RL IS2TK09
3. Parameter vu 0 500 v gingabe eee EA vo 4 500 V Eingabe B CANopen Nodeguarding aktivieren o Winkelwerte 152D 90 P Sepa pet Guard Time in ms RER a 45 00 Eingebe era Life Time Factor SEES ESI I pose Heartbeat aktivieren o 5 Spannung Intervallzeit in ms Fumware Update Synchronisiertes Senden ica Nach Anzahl SYNC Telegramme 1 1 Standard Vollbid Zyklischer Betriebsmodus o Zykluszei in ms E 9 02 or Info x COB ID SYNC ox 080 080 r E o a ne Sperrzeit EMCY in ms 10 a 0 E 0 00 Y com Sperrzeit TPDO1 in ms 10 a a odut Code PR 23154 00 ennummer 00001 ce 1520 90 Pal ware Version v3 21 vinkelbereich 490 l sung nu i Statusbyte 0x01 d Dokument gt Sensor Dokument lt Sensor Standard Sensor Konfiguration Sensor 3D Ansicht Sensor Osziloskop 1152D 90 P21 Serien Nr 0000102 NUM Winkelbereich Aufl sung atusbyte oo W Sensor Konfiguration Sensor 3D Ansicht Sensor Oszilloskop 152D 90 P25 Serien Nr 00002 D Figure 13 PC software Document 230xx HB 1 0 E ISxxxxxx C xL 22 9 Ordering Information GEMAC Sensorik Messtechnik ASIC Design 9 Ordering Information PR 23020 30 PR 23024 30 PR 23050 30 PR 23054 30 PR 23060 00 PR 23064 00 PR 23999 01 IS1TK360 C RL IS2TK090 C RL IS1BP360 C CL IS2BP090 C CL IS1SP360 C BL IS2SP090 C BL ISPA1 CAN 1 dimensional 360 metal housing CAN 2 dimensional 90
4. according to ISO 10605 2008 Limits according to EN ISO 14982 agricultural and forestry machinery respectively EN ISO 13309 construction machinery discharge combination 330 pF 330 Q Contact discharge 8 KV bipolar metallic parts Air discharge 15 KV bipolar Performance criteria A Table 4 Electromagnetic Compatibility EMC Figure 2 Definition of the Axes ISTBP360 C CL IS2BP090 C CL plastic housing factory default settings Document 230xx HB 1 0 E ISxxxxxx C xL 5 4 Technical Data IS1SP360 C BL IS2SP090 C BL GEMAC Sensorik Messtechnik ASIC Design 4 Technical Data IS1SP360 C BL IS2SP090 C BL General Parameters Measurement range Resolution Accuracy Cross Sensitivity compensated Temperature coefficient zero point Sampling rate Cut off frequency Operating temperature Characteristics IS1SP360 C BL IS2SP090 C BL 360 90 0 01 0 01 Range typical maximum Range typical maximum 0 360 0 15 0 25 up to 60 0 10 0 20 up to 80 0 20 0 30 typ 0 10 max 0 50 typ 0 01 K 80 Hz typ 20 Hz 2 order without digital filter 0 1 25 Hz 8 order with digital filter 40 C to 80 C Interface Data rates Functions Electrical Parameters CAN 2 0 A and B 11 and 29 Bit ID according to ISO 11898 2 10 k 20 k 50 k 62 5k 100k 125 k 250 k 500 k 800 k Bit s 1 MBit s automatic detection Angle request cyclical and synchronized
5. connector A coded The pin allocation fulfills CIA DR 303 1 Figure 7 Figure 8 CAN SHLD Shield 2 CAN V Supply voltage 424 V 3 CAN GND GND 0 V V 4 CAN_H CAN_H bus line 5 CAN_L CAN_L bus line Figure 7 M12 Plug Connector Pin Out CAN Bus View from the outside CAN_SHLD Shield 2 CAN_V Supply voltage 24 V 3 CAN_GND GND 0 V V 4 CAN_H CAN_H bus line 5 CAN_L CAN_L bus line Figure 8 M12 Female Connector Pin Out CAN Bus View from the outside The inclination sensors IS1SP360 O BL and IS2SP090 O BL are equipped with a common 5 pole round plug M8 B coded The pin allocation fulfills DeviceNet specification DSE 016 010 Figure 9 CAN SHLD Shield 2 CAN V Supply voltage 24 V 3 CANH CAN H bus line 4 CAN GND GND 0 V V 5 CANL CAN L bus line Figure 9 M8 Plug Connector Pin Out CAN Bus View from the outside 6 2 Bus Termination Resistor The inclination sensors contain no internal termination resistor Document 230xx HB 1 0 E ISxxxxxx C xL 10 GEMAC 7 Functional description Sensorik Messtechnik ASIC Design 7 Functional description 7 1 Digital Filter The inclination sensor offers the possibility to suppress the influence of external disturbing vibrations The internal lowpass digital filters 8th order are programmable to a cut off frequency down to 0 1 Hz The sensor has two digital filters that can be selected according to the application of the sensor Filter Adjustable Applications
6. field bus system CAN is required Document 230xx HB 1 0 E ISxxxxxx C xL l GEMAC Sensorik Messtechnik ASIC Design Table of Contents Table of Contents Ier m 1 A CMArACtONSHCS RET 1 TZ Applications 1 2 Technical Data IS1TK360 C RL IS2TK090 C RL uuu02224444nnnnsnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn nennen 2 3 Technical Data IS1BP360 C CL IS2BPO90 C CL u 2224ssnnnnssnnnnnnnnnnnnnnennnnnnnnnnnnnnnnnnnnannnnnnnnnnnnnnnn nnn 4 4 Technical Data IS1SP360 C BL IS2SPO90 C BL 24u4snnsnnnnnennnennnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 6 5 Mo nling ee em A 8 5 1 Positionof Drilling Holes cg ses tree eR ee usa AREE 8 6 CONNECCION ioana CREDE RENE Te ERR ER ERR RER A OERE ERE E ERR a DER ee AERE En REO A Sa ae RR AX aE SERERE dedeaserseancenseanaas 10 6 1 Connector Pin Oti nenne cete D Re Ric dpa aan na ann nb ann nn han Rn An CKRRRERRRRRRPR ee 10 6 2 Bus Term imation Resistor u ee 0n 2 na nn lehnen 10 7 Functional descriptiOn cotone nitet ineo a as eben a ha Aha ee 11 usse O n 11 4 2 Zero Point Adjustment a einlegen 11 7 3 Active compensation of thermal accuracy shift ne 12 a EI IIaND 12 735 Format of the CAN Frames kennen 13 7 2 1 Data Part in th
7. pre ceding request as confirmation DO D7 Data bytes depending on the function select code Status Status information which is included in each frame output by the inclination sensor see section 7 5 2 Status Byte STATUS Frames which are transmitted to the inclination sensor may contain further data bytes beyond the needed ones those will not be evaluated Frames sent by the inclination sensor only contain the data bytes defined by the function select code 7 5 2 Status Byte STATUS Each frame output by the inclination sensor contains the recent status of the device in Byte1 of the CAN frame The status byte is structured as follows su e 5 T me em oe ou oo reserved Accuracy reserved Sensor CmdParam EEPROM Autobaud Default Warning Error Error Error Detection Param Table 10 Status Byte type only IS1xx360 C xL mcr sr 5 su es on m em reserved Accuracy SensorY SensorX CmdParam EEPROM Autobaud Default Warning Error Error Error Error Detection Param Table 11 Status Byte type only IS2xx090 C xL Document 230xx HB 1 0 E ISxxxxxx C xL 13 GEMAC Sensorik Messtechnik ASIC Design 7 Functional description DefaultParam The standard device parameters are set This bit is reset only when a device para meter was changed to a different value from the factory parameter The inclination sensors are supplied with the standard device parameters so this bit is set by default refer to sec
8. zero point typ 0 0080 K Sampling rate 80 Hz Cut off frequency typ 20 Hz 2 order without digital filter 0 1 25 Hz 8 order with digital filter Operating temperature 40 C to 80 C Characteristics Interface CAN 2 0 A and B 11 and 29 Bit ID according to ISO 11898 2 Data rates 10 k 20 k 50 k 62 5 k 100 k 125 k 250 k 500 k 800 k Bit s 1 MBit s automatic detection Functions Angle request cyclical and synchronized outputs two programmable digital filter low pass 8 order configuration via CAN Electrical Parameters Supply voltage 8 to 48 VDC Current consumption lt 33 mA 24 V Mechanical Parameters Connector CAN 2x sensor connector 5 pole M12 loop through connector Degree of protection IP65 67 Dimensions Weight Plastic housing 66 mm x 90 mm x 36 mm ca 215g CE conformity to EC Directive 2006 42 EC EC Directives RL 2004 108 EC EMC Directive RL 2006 95 EC Low Voltage Directive LVD Harmonized standards DIN EN 50498 2010 Electromagnetic compatibility EMC Product family standard for aftermarket electronic equipment in vehicles EN 60950 1 2006 A1 2010 Information technology equipment Safety General requirements EN ISO 14982 2009 Agricultural and forestry machinery Electromagnetic compatibility Test methods and ac ceptance criteria DIN EN 13309 2010 Construction machinery Electromagnetic compatibility of machines with internal power supply Table 3 Technical Data
9. 0 C RL Sensorik Messtechnik ASIC Design 2 Technical Data IS1TK360 C RL IS2TK090 C RL Measurement range 360 90 Resolution 0 01 0 01 Accuracy Range typical maximum Range typical maximum 0 360 0 04 0 10 up to 60 0 02 0 05 up to 70 0 04 0 10 up to 80 0 08 0 20 up to 85 0 16 0 40 Cross Sensitivity compensated typ 0 10 max 0 50 Temperature coefficient zero point typ 0 0008 K typ lt 0 10 over range 40 C 80 C Sampling rate 80 Hz Cut off frequency typ 20 Hz 2 order without digital filter 0 1 25 Hz 8 order with digital filter Operating temperature 40 C to 80 C Characteristics Interface CAN 2 0 A and B 11 and 29 Bit ID according to ISO 11898 2 Data rates 10 k 20 k 50 k 62 5 k 100 k 125 k 250 k 500 k 800 k Bit s 1 MBit s automatic detection Functions Angle request cyclical and synchronized outputs two programmable digital filter low pass 8 order configuration via CAN Electrical Parameters Supply voltage 8 to 48 VDC Current consumption lt 200 mA 24V PPeak lt 4 8 W Mechanical Parameters Connector CAN 2x sensor connector 5 pole M12 loop through connector Degree of protection IP65 67 Dimensions Weight Metal housing 82 mm x 82 mm x 25 mm ca 310 g CE conformity to EC Directive 2006 42 EC EC Directives RL 2004 108 EC EMC Directive RL 2006 95 EC Low Voltage Directive LVD Harmo
10. 1 0 E ISxxxxxx C xL 7 GEMAC Sensorik Messtechnik ASIC Design 5 Mounting 5 Mounting 5 1 Position of Drilling Holes The drilling holes to mount the sensor Figure 4 Figure 5 and Figure 6 are situated in the base plate of the inclination sensor 82 00 70 00 62 00 50 00 i AA N l vr 1 y WP l K i 88 N Siete ke Oe ASS yp ee Se a ace Ie 8 SR D B i 8 004 20 00 Figure 4 Dimensioned Sketch of metal housing t I for hexagon socket screw M5 DIN 912 A2 4 pcs mandatory use conical S spring washer M5 DIN 6796 A2 4 pcs 66 0 45 0 I I I I I I I I R29 90 0 Figure 5 Dimensioned Sketch of plastic housing Document 230xx HB 1 0 E ISxxxxxx C xL 8 GEMAC Sensorik Messtechnik ASIC Design 5 Mounting 36 3 33 9 Figure 6 Dimensioned Sketch of small plastic housing Document 230xx HB 1 0 E ISxxxxxx C xL 9 6 Connection A Sensorik Messtechnik ASIC Design 6 Connection 6 1 Connector Pin Out The inclination sensors IS1TK360 C RL IS2TK090 C RL IS1BP360 C CL and IS2BP090 C CL are equipped with a common 5 pole round plug M12 A coded and a 5 pole round female
11. 230xx HB 1 0 E ISxxxxxx C xL 15 7 Functional description 7 7 2 Reply Parameter Frames GEMAC Sensorik Messtechnik ASIC Design Each Reply Parameter Frame contains the identical FSC as confirmation to the correctly received Set Para meter Frame The error bits of the status byte indicate insufficient or invalid parameters or errors that oc curred while writing into the nonvolatile memory refer to section 7 5 2 Status Byte STATUS The struc ture of the Reply Parameter Frames in dependence to the FSC is shown in Table 14 EEE e Ton oe oe oes er aera 02h 03h 04h 10h 11h 12h 13h 14h 15h 16h 17h 18h 18h 19h 20h 21h 22h 23h 24h 25h 26h 27h 28h 28h 29h 40h 50h FFh FFh Status Status Status Status Status Status Status Status Status Status Status Status Status Status Status Status Status Status Status Status Status Status Status Status Status Status Status Status Status Status WXO PRO SNO IDO IDO IDO BR ABOR CYTO CYM CFO OFO OFXO OFYO SetPar amlID SetPar amlID WX1 PR1 SN1 ID1 ID1 ID1 CYT1 CF1 OF1 OFX1 OFY1 SetPar amiD SetPar amiD PR2 SN2 ID2 ID2 ID2 SetPar amiD SetPar amiD WY1 PR3 SN3 ID3 ID3 ID3 SetPar amID SetPar amiD CNTO CNT1 Read inclin values incl cyclic counter in Cyclic Mode RVO SWVO SWV1 SWVO SWV1 SWVO SWV1 RV1 Read status Read product numb
12. 6 bit unsigned integer value 1 65535 Conversion Value 100 angle value Example 1065 100 10 65 AngleX YO 1 Type only IS2xx090 C xL Angle value of the X Y axis Format 16 bit signed value complement on two 9000 9000 Conversion Value 100 angle value 7 9 2 Synchronous Mode The synchronous transmission is used to receive inclination values from more than one sensor at the same time Therefore the sensor provides a synchronization frame Default Sync ID 100h The synchronization frame is a broadcast message to all CAN nodes without user data DLC 0 This synchronization frame is transmitted from a bus node usually the master cyclically at fixed intervals All inclination sensors read their current value after reception of the synchronization frame and then transmit the inclination values dir ectly as soon as the bus permits The replay frame to a synchronization frame is the same as in polling mode Table 17 18 7 9 3 Cyclic Mode The inclination sensor supports the cyclical transmission of the recent position angle position after the ex piration of a defined time interval This operation mode can be de activated separately and the needed time interval Cyclic Time can be parametrized freely Corresponding to the operational principle shown in Figure 11 the inclination sensor outputs the recent position value in periodical intervals Cyclic Time with a Reply Parameter Frame as in the polling mode with addit
13. C CL plastic housing sssssssss 5 Figure 3 Definition of the Axes IS1SP360 C BL IS2SP090 C BL small plastic housing 7 Figure 4 Dimensioned Sketch of metal housing essssssssesseeeeenm mener nnns 8 Figure 5 Dimensioned Sketch of plastic housing ssssss een 8 Figure 6 Dimensioned Sketch of small plastic housing ssssm e 9 Figure 7 M12 Plug Connector Pin Out CAN Bus sssessseeeeen eene enne nnenn nnn n herren nnns nnns 10 Figure 8 M12 Female Connector Pin Out CAN Bus uuuussssnnsnnnssssnnnnnnnonnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 10 Figure 9 M8 Plug Connector Pin Out CAN Bus uuursssssssnnnsssnnnnnnnnnnnnnnnnnnnnnnnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnn nasse 10 Figure 10 Impulse and amplitude response of the two filters 11 Figure 11 Operational Principle of the Cyclic Mode sssenm emn 18 Figure 12 Starter d c 21 Figure 13 PC Software nee ni ni een ipa ea Saut eon o li dt dan 22 Document 230xx HB 1 0 E ISxxxxxx C xL IV 1 Overview GEMAC Sensorik Messtechnik ASIC Design 1 Overview 1 1 Characteristics 1 dimensional inclination sensor with measurement range 360 2 dimensional inclination sensor with measurement range 90 X Y High sampling rate and bandwidth High resolution 0 01 High accuracy 0 05 ISxTKxxx C RL ISxBPxxx C CL and 0 10
14. GEMAC Sensorik Messtechnik ASIC Design User manual Inclination Sensors with CAN Bus Interface Version 1 0 Date 2014 05 30 reference LINIE IS1TK360 C RL IS2TK090 C RL classic LINIE IS1BP360 C CL IS2BP090 C CL basicLIINI E IS1SP360 C BL IS2SP090 C BL GEMAC Gesellschaft f r Mikroelektronikanwendung Chemnitz mbH Phone 49 371 3377 0 Zwickauer Stra e 227 Fax 49 371 3377 272 09116 Chemnitz E mail info gemac chemnitz de Germany Web www gemac chemnitz de GEMAC Sensorik Messtechnik ASIC Design Revision History Revision History Date Revision Changes 2014 05 30 0 first version Copyright 2014 GEMAC Gesellschaft f r Mikroelektronikanwendung Chemnitz mbH This document is subject to change without notice We constantly work to further develop of our products We reserve any changes of the scope of delivery in shape equipment and technology for ourselves No claims can be made from the details illustrations and descriptions in this document Any kind of duplication reprocessing and translation of this document as well as excerpts from it require the written permission of GEMAC Gesellschaft f r Mikroelektronikanwendung Chemnitz mbH All rights according to the copyright remain explicitly reserved for GEMAC Gesellschaft fur Mikroelektroni kanwendung Chemnitz mbH Note To use the inclination sensors and for proper understanding of this manual general knowledge of the
15. T 250 250 ms Cyclic Mode CYM 0 deactivated Cut off Frequency CF 2000 2000 mHz 2 Hz Zero Offset 0 Off Table 15 Default Settings of the Device Parameters These default settings will also be set if invalid device parameters are read from the nonvolatile memory after device reset If the default settings have been restored this is displayed by the status bit STATUS De faultParam 1 7 9 Transfer of the inclination values For the transfer of the inclination values the sensor supports following modes EB Polling Mode Synchronous Mode EB Cyclic Mode All three modes are active at any time and usable at the same time A switch is not necessary 7 9 1 Polling Mode The polling mode is always available The inclination value of the sensor can be requested via a Set Para meter Frame The inclination sensor replies to that frame via a Reply Parameter Frame Both frames are structured as follows EON NO eae NEZ ESSEN GUESS TEE NE 00h gt z Table 16 Request frame inclination values FSC 00h Status AngleO Anglet CNTO CNT1 Table 17 Reply frame inclination values type only IS1xx360 C xL FSC 00h Status AngleX0 AngleX1 AngleYO AngleY1 CNTO CNT1 Table 18 Reply frame inclination values type only IS2xx090 C xL FSC 00h Document 230xx HB 1 0 E ISxxxxxx C xL 17 GEMAC Sensorik Messtechnik ASIC Design 7 Functional description Angle0 1 Type only IS1xx360 C xL Angle value Format 1
16. The inclination sensor is supplied with power through this An additional power sup ply is not necessary ISDControl Fk A Figure 12 Starter kit Document 230xx HB 1 0 E ISxxxxxx C xL 21 GEMAC Sensorik Messtechnik ASIC Design 8 Sensor configuration 8 2 PC software ISDControl The parametrization of all possible values is done with the PC software ISDControl which is included in all starter kits Each configuration can then be stored in a file Properties comfortable configuration of all parameters of the inclination sensor 3D imaging and display of the current angle Oscilloscope display of the current angle Firmware Download option Automatic inclination sensor search for unknown communication parameters A Unbenannt isd 150Control 3 Ansicht Extras He f stromfspannung e 00h 30th 40 Sensor Scan Firmwere Update Sensor Auswahl X Sensor Konfiguration X jungssensor G CAN Alle Parameter Analogausg nge E Ausgang kanalA OKanalB M Konfiguration ad Unbenannt 1SDContrell Tm Ausgang Dx Adhse im i Datei Ansicht Extras Hife k Begrenzung v il zi kd A J CANjCANopen m 1000 ketis m 3200h 301hJ 10 or Scan pkiemware Update E Spannungsausgang Sensor Auswahl X Sensor Komfiguration 08 45V gungssensor pe G CAN Baudrate Node ID 155 Comm Parameter Manu Parameter Appl
17. achinery respectively EN ISO 13309 construction machinery 200 1000 MHz vertical 400 1000 MHz horizontal 100 V m 1 KHz AM Performance criteria A Immunity to Conducted Disturbances on board power supply 24 VDC Test pulse according to ISO 7637 2 2004 Test pulse Severity level Performance criteria 1 450 V Ill C 2a 37 V Il B 2b 20 V Ill B 3a 150 V ll A 3b 150 V ll A 4 12V III B 5a 70 V Ri 2 100 A 5b 36 V Ri 2 0 50 A Immunity to Electromagnetic Discharge ESD ESD according to ISO 10605 2008 Limits according to EN ISO 14982 agricultural and forestry machinery respectively EN ISO 13309 construction machinery discharge combination 330 pF 330 Q Contact discharge 8 KV bipolar metallic parts Air discharge 15 KV bipolar Performance criteria A Table 2 Electromagnetic Compatibility EMC Figure 1 Definition of the Axes IS1TK360 C RL IS2TK090 C RL metal housing factory default settings Document 230xx HB 1 0 E ISxxxxxx C xL 3 GEMAC Sensorik Messtechnik ASIC Design 3 Technical Data IS1BP360 C CL IS2BP090 C CL 3 Technical Data IS1BP360 C CL IS2BP090 C CL Measurement range 360 90 Resolution 0 01 0 01 Accuracy Range typical maximum Range typical maximum 0 360 0 04 0 10 up to 60 0 02 0 05 up to 70 0 04 0 10 up to 80 0 08 0 20 up to 85 0 16 0 40 Cross Sensitivity compensated typ 0 10 max 0 50 Temperature coefficient
18. ber and revision 04h Read serial number and software version 10h Set Parameter ID 11h Reply Parameter ID 12h Sync ID 13h Baud Rate 2 14h Automatic Bus Off Recovery s o 15h Cyclic Time g 16h z 5 2 5 Cyclic Mode 17h Cut off Frequency Digital Filter Filter selection 3 18h Zero Offset 18h Zero Offset X 19h Zero Offset Y 20h IDO ID1 ID2 ID3 Set Parameter ID 21h IDO ID1 ID2 ID3 Reply Parameter ID 22h IDO ID1 ID2 ID3 Sync ID 23h BR Baud Rate 24h ABOR Automatic Bus Off Recovery S 25h CYTO CYT1 Cyclic Time g 26h CYM Cyclic Mode E 27h CFO CF1 FT Cut off Frequency Digital Filter Filter selection E 28h OFO OF1 Zero Offset 28h OFXO OFX1 Zero Offset X 29h OFYO OFY1 Zero Offset Y 40h Js O A D Load default device parameters factory defaults 50h S A v ses Write device parameters in EEPROM FFh R jE Si ES IE Software reset FFh Read alive frame Boot Up Message Table 13 Supported FSC and Parameters of the Set Parameter Frames Request 1 type only 1S1xx360 C xL 2 type only IS2xx090 C xL Changes to communication parameters such as ID and Baud Rate will take effect after reboot Document
19. e CAN Frame u een en aa 13 8 2 status Byte STATUS ae ke ee ee 13 1 6 BOOtL Up LOI 14 7 7 Read Write device parameters cccccceeceececceeeeeeeeeeeeeeeeccaaeceaaaeaaaeeeeeeeeeeeeeeeeeeeeeeaaaaeeeseseesaaaaaes 15 CFA Set Parameter Frame ee Be ann nn 15 f 2 Reply Parameter Frames ee neue Mideeayeesesideetamndaneeeess 16 7 8 Default Device Parameters sssssssssssssssseeeeeeeeene nennen nennen rre n hee eren nnn nnn nennen nennen 17 7 9 Transfer of the inclination values iiec icit aei nen 17 7 9 1 Polling Mode een el 17 9 2 Synchronous Mode i uer asked 18 29 3 Oo ed MODE e a en nnd nn es An ragen aa re haha nenn ann een 18 7 10 Configuration of the inclination sensor uusrssnnnnnennennnnnnennnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnn 19 7 10 1 Configuration of Cyclic ModE iseseisana EE ia EEE enne nenne ener 19 7 10 2 Configuration of the CAN Identifier eene 19 7 10 3 Configuration of the Baud Rate ssssssssssssseeeeeeeeen nennen nnne nennen nnne nnne nnns 19 7 10 4 Configure Automatic Bus Off Recovery sssssssssssssseeeeeeen ennemis 19 7 10 5 Configuration of Cut off Frequency uuusssssnnsnnnssssnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnonnnnnnnnnnnnnnnnn 20 7 10 6 Configuration of Zero Point Adjustment sssssseeeeennmeennm eene 20 7 10 7 Restoration of Default De
20. e the accuracy values from the technical specification are valid 7 6 Boot Up Message After device reset hardware or software reset the inclination sensor outputs a boot up message twice With this the correct boot process is displayed and the Set Parameter ID is notified CAN ID on that the in clination sensor can be parametrized This frame contains the following information Boot up message after device reset Reply Parameter ID default ID 301h Status SIDO SID1 SID2 SID3 SWVO SWV1 Table 12 Boot Up Message SIDO 3 Set Parameter ID description in section 7 7 Read Write device parameters SWVO 1 Software version Format 16 bit unsigned integer value Example 67h 103 corresponds to v01 03 Document 230xx HB 1 0 E ISxxxxxx C xL 14 GEMAC Sensorik Messtechnik ASIC Design 7 Functional description 7 7 Read Write device parameters All parameters like inclinations values CAN IDs Baud Rate Cyclic Time etc can be set and requested via the Set Parameter Frames Request frame The inclination sensor confirms each frame with a Reply Parameter Frame which also contains the needed data according to FSC Reply frame 7 7 4 Set Parameter Frame Table 13 shows all the supported function select codes and the parameters of a Set Parameter Frame LIERINE HECERERER E CON MN Read inclin values incl cyclic counter in Cyclic Mode 02h Read status 03h Read product num
21. er and revision Read serial number and software version Set Parameter ID Reply Parameter ID Sync ID Baud Rate Automatic Bus Off Recovery Cyclic Time Cyclic Mode Cut off Frequency Digital Filter Filter selection Zero Offset Zero Offset X Zero Offset Y Set Parameter ID Reply Parameter ID Sync ID Baud Rate Automatic Bus Off Recovery Cyclic Time Cyclic Mode Cut off Frequency Digital Filter Filter selection Zero Offset Zero Offset X Zero Offset Y Load default device parameters factory defaults Write device parameters in EEPROM Software reset Read alive frame Boot Up Message Table 14 Function Codes and Parameters of the Reply Parameter Frames 1 type only 1S1xx360 C xL 2 type only IS2xx090 C xL Changes to communication parameters such as ID and Baud Rate will take effect after reboot Document 230xx HB 1 0 E ISxxxxxx C xL Read device parameters Write device parameters 16 GEMAC Sensorik Messtechnik ASIC Design 7 Functional description 7 8 Default Device Parameters The inclination sensor is delivered with the default device parameters shown in Table 15 These can be re stored by a Set Parameter Frame with FSC 40h see section 7 7 Read Write device parameters Set Parameter ID 300h CAN 2 0 A Standard Frame Reply Parameter ID 301h CAN 2 0 A Standard Frame Sync ID 100h CAN 2 0 A Standard Frame Baud Rate BR 0 Automatic Baud Rate Detection Cyclic Time CY
22. f setting the current position as zero point the current measured inclination value must be set as negative value in the zero offset register The inclination sensor is able to perform this kind of Zero Point Ad justment equal to itself Automatic Zero Point Adjustment This requires the user to send a telegram without parameters FSC 27h 28h DLC 1 The sensor then sets the current position at the time of re ceipt of the telegram as negative value in the zero offset register Document 230xx HB 1 0 E ISxxxxxx C xL 11 A GEMAC Sensorik Messtechnik ASIC Design 7 3 Active compensation of thermal accuracy shift The inclination sensor in metal housing features opposed to the sensors in plastic housing an active com pensation of thermal accuracy shift This is improved by maintaining the sensor element at a constant tem perature which is independent of the operation temperature of the inclination sensor 7 4 Status LED The integrated two color Status LED signals the recent device state Run LED green as well as CAN com munication errors that might have occurred Error LED red The color and the flashing frequency of the LED distinguish the different device states as shown in Table 8 Status LED UON OXON ONE Off The device is in state Reset or no power supply is connected Oe Oe ie Ec Ge Ge Oe Ge Oe Gr Ge X Flickering Automatic baud rate detection is currently running active w 9 9 9 i9 9 9 9 9 9j O
23. frequency range Butterworth 0 1 Hz 25 Hz Static inclination measurement with high damping to vibration Critical damped 0 1Hz 8Hz Inclination measurement in applications that requires a certain dynamism without over shoot at angle changes with good damping Table 7 Filter selection The cut off frequency is programmable by FSC 26h Set Parameter Frame Values for CF are allowed between 100 0 1 Hz and 25000 8000 25 Hz 8 Hz The filter type is selected with the parameter FT Step response 8th order filter Gain response 8th order filter T T T T T T Gain dB Tit 7 Step EEEL Butterworth f 2 Hz sol Butterworth f 2 Hz Butterworth f 0 5 Hz Butterworth f 0 5 Hz critically damped t 2Hz 70H critically damped f 2 Hz 4 i critically damped f 0 5 Hz critically damped f 2 0 5 Hz i i i i I I I I 80 DIXI p d i iod iii ji pg 0 1 2 3 4 5 6 7 8 9 10 0 01 01 100 Time s Frequency Hz Figure 10 Impulse and amplitude response of the two filters 7 2 Zero Point Adjustment For all inclination sensors the zero point can be adjusted This allows to set the zero position in the installed state of the sensor Therefore the inclination sensors have a memory for a zero offset Here registered val ues are added to the output of the internal measured inclination value In case o
24. gricultural and forestry machinery respectively EN ISO 13309 construction machinery 30 1000 MHz vertical and horizontal Immunity to Radio Frequency Fields RF fields Strip line according to ISO 11452 5 Limits according to EN ISO 14982 agricultural and forestry machinery respectively EN ISO 13309 construction machinery 20 400 MHz 200 V m 1 KHz AM Performance criteria A Anechoic chamber according to ISO 11452 2 Limits according to EN ISO 14982 agricultural and forestry machinery respectively EN ISO 13309 construction machinery 200 1000 MHz vertical 400 1000 MHz horizontal 100 V m 1 KHz AM Performance criteria A Immunity to Conducted Disturbances on board power supply 24 VDC Test pulse according to ISO 7637 2 2004 Test pulse Severity level Performance criteria 1 450 V Ill C 2a 37 V Ill B 2b 20 V II C 3a 150V Il A 3b 150 V ll A 4 12V III B 5a 70 V Ri 1Q A 5b 36 V Ri 20 50 A Immunity to Electromagnetic Discharge ESD ESD according to ISO 10605 2008 Limits according to EN ISO 14982 agricultural and forestry machinery respectively EN ISO 13309 construction machinery discharge combination 330 pF 330 Q Contact discharge 8 KV bipolar metallic parts Air discharge 15 KV bipolar Performance criteria A Table 6 Electromagnetic Compatibility EMC Figure 3 Definition of the Axes IS1SP360 C BL IS2SP090 C BL small plastic housing factory default settings Document 230xx HB
25. ional counter in the following data bytes Table 17 This 16 bit counter is increased after the end of the set Cycle Time regardless of whether the telegram was sent or not Thus the temporal relation in case of lost frames can be restored Cyclic Mode Internal Timer Cyclic Time CAN Cyclic Position Telegrams Cyclic Time Figure 11 Operational Principle of the Cyclic Mode Document 230xx HB 1 0 E ISxxxxxx C xL 18 GEMAC Sensorik Messtechnik ASIC Design 7 Functional description 7 10 Configuration of the inclination sensor 7 10 1 Configuration of Cyclic Mode CYZO 1 Cyclic Time in ms Format 16 bit unsigned integer value 1 65535 CYM De activate Cyclic Mode 0 Cyclic Mode deactivated 1 gt Cyclic Mode activated The section 7 9 3 Cyclic Mode contains a detailed description of the usage of the Cyclic Mode 7 10 2 Configuration of the CAN Identifier IDO 3 CAN Identifier ID 11 Bit ID CAN 2 0 A or 29 Bit ID CAN 2 0 B Format 32 bit value with the following structure Se eS eee eee ee eee ae 7a KON E53 E43 ESI E20 ETE OM Erz KON E55 EZ on 22 Ei BOR Ia KON Bom etl eon 522 KM KON E720 ROM Bom e Won 522 EIE KO 0 11 Bit ID CAN 2 0 A 1 29 Bit ID CAN 2 0 B Table 19 CAN Identifier Example CAN ID 361h 29 Bit ID CAN 2 0 B IDO 61h ID1 03h ID2 00h ID3 80h If a CAN ID is set newly it must not be used by another frame type If this occ
26. metal housing CAN 1 dimensional 360 plastic housing CAN 2 dimensional 90 plastic housing CAN 1 dimensional 360 small plastic housing CAN 2 dimensional 90 small plastic housing Inclination sensor programming adapter Starter kit including programming adapter cables and PC software Table 22 Ordering Information Document 230xx HB 1 0 E ISxxxxxx C xL 23
27. n The device is in normal operating state OREGON ORCI Obi The device is in working condition i O O O O O i O O O O O Single Flash CAN Warning Limit reached i i9 1 9 i9 CECE EE On The device is in state Bus Off Legend OLED off AS LED on I LED flickering 50 ms on off Duration of O 18 200 ms Table 8 Status and Error Display through Status LED Document 230xx HB 1 0 E ISxxxxxx C xL 12 GEMAC Sensorik Messtechnik ASIC Design 7 Functional description 7 5 Format of the CAN Frames For reading writing device parameters and to read the inclination values a CAN ID exist for receiving data commands and one CAN ID to send the response confirmation These IDs are saved in an internal permanent memory EEPROM and can be configured freely CAN 2 0 A Standard Frame Format as well as CAN 2 0 B Extended Frame Format are supported 7 5 1 Data Part in the CAN Frame The data part of all transmission and receipt frames always contains a function select code FSC and addi tionally up to seven data bytes depending on the FSC The length of the data part of the CAN frame is defined in the DLC field Data Length Code The general format of the data part is structured as follows FSC DO Status D1 D2 D3 D4 D5 D6 Table 9 Format of the CAN Frames FSC Function Select Code Function code detailed description in the sections about the op eration modes Each frame of the inclination sensor always contains the FSC of the
28. nized standards DIN EN 50498 2010 Electromagnetic compatibility EMC Product family standard for aftermarket electronic equipment in vehicles EN 60950 1 2006 A1 2010 Information technology equipment Safety General requirements EN ISO 14982 2009 Agricultural and forestry machinery Electromagnetic compatibility Test methods and ac ceptance criteria DIN EN 13309 2010 Construction machinery Electromagnetic compatibility of machines with internal power supply Table 1 Technical Data 1 Allindicated angle accuracies are valid after a running time of 10 minutes at 25 C Cut off frequency 0 3 Hz Absolute calibration accuracy at 25 C 0 05 Document 230xx HB 1 0 E ISxxxxxx C xL N GEMAC Sensorik Messtechnik ASIC Design 2 Technical Data IS1TK360 C RL IS2TK090 C RL Electromagnetic Compatibility EMC Transient Emissions Radiated disturbance Radio field strength Limit curves broadband and narrowband EN ISO 14982 agricultural and forestry machinery respectively EN ISO 13309 construction machinery 30 1000 MHz vertical and horizontal Immunity to Radio Frequency Fields RF fields Strip line according to ISO 11452 5 Limits according to EN ISO 14982 agricultural and forestry machinery respectively EN ISO 13309 construction machinery 20 400 MHz 200 V m 1 KHz AM Performance criteria A Anechoic chamber according to ISO 11452 2 Limits according to EN ISO 14982 agricultural and forestry m
29. outputs two programmable digital filter low pass 8 order configuration via CAN Supply voltage Current consumption Mechanical Parameters 8 to 45 VDC 16 mA 24 V Connector CAN Degree of protection Dimensions Weight 1x sensor connector 5 pole M8 male IP65 67 small plastic housing 68 mm x 36 3 mm x 20 7 mm ca 40g CE conformity to EC Directive 2006 42 EC EC Directives RL 2004 108 EC RL 2006 95 EC Harmonized standards DIN EN 50498 2010 EN 60950 1 2006 A1 2010 EN ISO 14982 2009 DIN EN 13309 2010 Table 5 Technical Data EMC Directive Low Voltage Directive LVD Electromagnetic compatibility EMC Product family standard for aftermarket electronic equipment in vehicles Information technology equipment Safety General requirements Agricultural and forestry machinery Electromagnetic compatibility Test methods and ac ceptance criteria Construction machinery Electromagnetic compatibility of machines with internal power supply 3 All indicated angle accuracies are valid after a running time of 10 minutes at 25 C Cut off frequency 0 3 Hz Absolute calibration accuracy at 25 C 0 05 Document 230xx HB 1 0 E ISxxxxxx C xL o GEMAC Sensorik Messtechnik ASIC Design 4 Technical Data IS1SP360 C BL IS2SP090 C BL Electromagnetic Compatibility EMC Transient Emissions Radiated disturbance Radio field strength Limit curves broadband and narrowband EN ISO 14982 a
30. ssssssssssssseeeeeeeemem eren nnne 13 Table 11 Status Byte type only I82xx090 C xL sssssssssssssessssseee eene rns 13 Table 12 Boot Up Message etre ete lei 14 Table 13 Supported FSC and Parameters of the Set Parameter Frames Request 15 Table 14 Function Codes and Parameters of the Reply Parameter Frames ccccssseceeeeeeeeeeeeeeeeeeeeeeee 16 Table 15 Default Settings of the Device Parameters ccccceeeeeeeeeeeeceeeceeeeeeeeeeeeeeeteeeeeeencenneeeeeeaeeeeeeees 17 Table 16 Request frame inclination values FSC 00h 17 Table 17 Reply frame inclination values type only IS1xx360 C xL FSC 00h seeeeseesssssss 17 Table 18 Reply frame inclination values type only IS2xx090 C xL FSC 00h eeessesssesssss 17 Table 19 CAN Identifier acs bai cut rete dened chan nad een 19 Table 20 Restore Default Device Parameters sse mee ener nnnnnis 20 Table 21 Save Device Parameter Sarcinii eikai ended Rete sea Dni ran bc AENA Denn Ein Freude nece du ddd 20 Table 22 Ordering Information essersi ee nen nn nenn nn 23 Document 230xx HB 1 0 E ISxxxxxx C xL I GEMAC Sensorik Messtechnik ASIC Design List of Figures List of Figures Figure 1 Definition of the Axes IS1TK360 C RL IS2TK090 C RL metal housing 44044 44400 3 Figure 2 Definition of the Axes IS1BP360 C CL IS2BP090
31. tion 7 8 Default Device Parameters AutobaudDetection The baud rate is set to automatic detection BR 0 refer to section 7 10 3 Config uration of the Baud Rate EEPROMError While reading writing on the EEPROM an error occurred for example data loss The correct function of the inclination sensor is no longer guaranteed This bit is reset by reading of the status byte Set Parameter Telegram with FSC 02h CmdParamError A received frame contained a command or parameter error invalid FSC too less data bytes invalid values This bit is also set if an error occurred in the execution of a function for example writing reading error on EEPROM It will be reset by reading of the status byte Set Parameter Frame with FSC 02h SensorError type only IS1xx360 C xL The sensor of the measuring axis is located outside of the tolerable value range limit The angle value can be incorrect This bit is reset auto matically if the sensor is inside its measuring range again SensorErrorX type only IS2xx090 C xL The sensor of the X axis is located outside of the tolerable value range limit The angle value can be incorrect This bit is reset automatically if the sensor is inside its measuring range again SensorErrorY type only IS2xx090 C xL Error bit of the sensor of the Y axis like SensorErrorX AccuracyWarning This bit is reset only when the constant temperature for temperature compensation is reached Only in this cas
32. urs the error bit STATUS Cm dParamError is set in the Reply Parameter Frame and the CAN ID is refused 7 10 3 Configuration of the Baud Rate BR Code of a Baud Rate Format 8 bit unsigned integer value 0 10 Code 0 Automatic Baud Rate Detection 1 10 kBit s 2 20 kBit s 3 50 kBit s 4 100 kBit s 5 125 kBit s 6 250 kBit s 7 500 kBit s 8 800 kBit s 9 1 Mbit s 10 62 5 kBit s additional baud rate 7 10 4 Configure Automatic Bus Off Recovery ABOR Enable Disable Automatic Bus Off Recovery 0 Enable Automatic Bus Off Recovery Device remains in a state Bus Off 1 Disable Automatic Bus Off Recovery Device starts up again Document 230xx HB 1 0 E ISxxxxxx C xL 19 GEMAC Sensorik Messtechnik ASIC Design 7 Functional description 7 10 5 Configuration of Cut off Frequency CFO 1 Cut off Frequency in mHz Format 16 bit unsigned integer value 100 25 000 0 digital filter disabled FT 0 Digital filter disabled 1 Butterworth filter selected 2 Critically damped filter selected The section 7 1 Digital Filter contains a detailed description 7 10 6 Configuration of Zero Point Adjustment OF Type 151xx360 C xL Zero Offset Format 16 bit unsigned integer value 0 35 999 OFX OFY Type IS2xx090 C xL Zero Offset X Y Format 16 bit signed value two s complement 9000 9000 The section 7 2 Zero Point Adjustment contains a detailed description 7 10 7 Restoration of Default De
33. vice Parameters sssessseeee emen nnne 20 7 10 8 Save Device Parameters 44snnnnnnnnnsnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnnpnnnnnnnnnnnnnnnnnnnnn 20 8 Sensor configuration eene nn nennen nnennse ren hhnerr see E ener sse e sehn nsns nsns nnne daia 21 8 1 Inclination sensor programming adapter sesseeseeenneeenenn mm eene mnes 21 8 2 PC software ISDControl 2 esses edidere ize ca dade bk a aaa nn 22 9 Ordering Information en ee 23 Document 230xx HB 1 0 E ISxxxxxx C xL Il List of Tables List GEMAC Sensorik Messtechnik ASIC Design of Tables Table 1 Technical Data use ee naar 2 Table 2 Electromagnetic Compatibility EMQO esee nmn nnn 3 Table 3 Technical Data ssssssssssssseseeeeeeeeeeeen nemen nennen nn EEANN NANAREN EAEAN ARANEA ANNEE 4 Table 4 Electromagnetic Compatibility EMO nennen 5 Table 5 Technical D ta nee 6 Table 6 Electromagnetic Compatibility EMQO essen emen 7 Table 7 Filter selection nice nern anna nn an Unna ana naeh an iA ARM RADM RR TE iaiia 11 Table 8 Status and Error Display through Status LED ssssssseeeneeennne menn 12 Table 9 Format of the CAN Frames naar nn aaa 13 Table 10 Status Byte type only I81xx360 C xL ssss
34. vice Parameters The sensor can be reset to default device parameters by writing the signature LOAD to the sensor FSC 40h Thus the default parameters with the exception of the ID and the Baud Rate are immediately active again After a software reset of the sensor or a hardware reset the factory parameter of the IDs and the baud rate take effect again 00 01 02 05 1E O A D 4Ch 4Fh 41h 44h Table 20 Restore Default Device Parameters The section 7 8 Default Device Parameters contains a detailed description 7 10 8 Save Device Parameters If parameters are changed in the sensor they take effect immediately except for the IDs and the Baud Rate Thus the new parameters are still active after a reset these must be stored in the internal non volatile memory This is done by writing the signature SAVE on the FSC 50h EEPE ee S A v je 53h 41h 56h 45h Table 21 Save Device Parameters Document 230xx HB 1 0 E ISxxxxxx C xL 20 GEMAC 8 Sensor configuration Sensorik Messtechnik ASIC Design 8 Sensor configuration 8 1 Inclination sensor programming adapter With the optional inclination sensor programming adapter starter kit it is possible to adjust all inclination sensors with CAN CANopen current or voltage interface It consists of a programming adapter that is con nected via USB to a PC The connection with the programming adapter is realized through various also in cluded adapter cables

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