Balluff BSI R65K0-HXXA-M-S92 Series, Configuration Manual

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Inhaltsverzeichnis
1. Sicherheitsinformationen .................................................................................................................. 3
1.1. Bestimmungsgemäße Verwendung ......................................................................................... 3
1.2. Unsachgemäße Verwendung .................................................................................................. 3
1.3. Sensor defekt ........................................................................................................................... 3
2. Hinweise ........................................................................................................................................... 3
2.1. Bestimmungsgemäße Verwendung ......................................................................................... 3
2.2. Im Text verwendete Symbole................................................................................................... 3
3. Kurzreferenz ..................................................................................................................................... 4
4. Installationsanleitung ........................................................................................................................ 5
4.1. Mechanische Zeichnung .......................................................................................................... 5
4.2. Montage ................................................................................................................................... 5
4.3. Connection ............................................................................................................................... 6
4.4. CAN Terminierung ................................................................................................................... 7
5. Funktionsbeschreibung .................................................................................................................... 8
5.1. Messprinzip dynamische Neigungsmessung ........................................................................... 8
5.2. Messachse und -richtung ......................................................................................................... 9
5.2.1. Messachse und Neigungsrichtung ................................................................................... 9
5.2.2. Messachse und Beschleunigungsrichtung ..................................................................... 10
5.2.3. Messachse und -richtung Gyroskop .............................................................................. 10
5.3. Signalverarbeitung ................................................................................................................. 11
5.3.1. Abtastrate ....................................................................................................................... 11
5.3.2. Sensor Fusion-Algorithmus ............................................................................................ 11
5.3.3. Digitale Filter .................................................................................................................. 11
5.4. Funktionsmodus ..................................................................................................................... 12
5.5. Applikationsprofile .................................................................................................................. 13
5.6. Ausgabeformat ....................................................................................................................... 14
5.7. Bootvorgang ........................................................................................................................... 14
5.8. Emergency Nachricht ............................................................................................................. 15
5.9. LSS (Layer Setting Service, according to CiA305-DSP) ....................................................... 15
5.10. Firmware Verwaltung ............................................................................................................. 16
5.11. Laden der Werkseinstellung................................................................................................... 16
5.12. Nullpunktabgleich ................................................................................................................... 17
5.13. EDS & DCF ............................................................................................................................ 17
5.14. Zuordenbare Objekte ............................................................................................................. 18
6. CANopen Spezifikation .................................................................................................................. 19
6.1. CANopen Communication Objects (COB) ............................................................................. 19
6.2. Vordefinierte CAN-IDs ............................................................................................................ 19
6.3. PDO (Sensorausgang lesen) ................................................................................................. 20
6.4. SDO (Object Dictionary konfigurieren) ................................................................................... 20
6.5. NMT Zustand ......................................................................................................................... 20
6.6. Object Dictionary (Geräteparameter) ..................................................................................... 21
7. CAN Object dictionary overview .................................................................................................... 22
7.1. Communication profile (Index 1000h - 1FFFh) ...................................................................... 22
7.1.1. Objekt 1001
h
Error register ............................................................................................ 24
7.1.2. Objekt 1002
h
Manufacturer status register..................................................................... 25
7.1.3. Objekt 1003
h
Predefined error field ................................................................................ 25
7.1.4. Objekt 1005h COB-ID SYNC message ......................................................................... 25
7.1.5. Objekt 1006
h
Communication cycle period .................................................................... 26
7.1.6. Objekt 1010
h
Store parameters ...................................................................................... 26
7.1.7. Objekt 1011
h
Restore factory default parameters .......................................................... 26
7.1.8. Objekt 1014
h
COB-ID EMCY ......................................................................................... 27
7.1.9. Objekt 1020
h
Verify configuration ................................................................................... 27
7.1.10. Objekt 1029
h
Error behaviour ......................................................................................... 27
7.1.11. Objekt 1800
h
, 1801
h
TPDO communication parameter ................................................. 27
7.1.12. Objekt 1A00
h
, 1A01
h
TPDO Mapping parameter ........................................................... 28