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

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Content
1. Safety Information ............................................................................................................................ 3
1.1. Intended use ............................................................................................................................ 3
1.2. Incorrect use ............................................................................................................................ 3
1.3. Sensor defective ...................................................................................................................... 3
2. About this manual ............................................................................................................................ 3
2.1. Intended use ............................................................................................................................ 3
2.2. Symbols used in the text .......................................................................................................... 3
3. Quick Reference .............................................................................................................................. 4
4. Installation Guide ............................................................................................................................. 5
4.1. Mechanical Drawing ................................................................................................................. 5
4.2. Mounting................................................................................................................................... 5
4.3. Connection ............................................................................................................................... 6
4.4. CAN termination ....................................................................................................................... 7
5. Functional description ...................................................................................................................... 8
5.1. Dynamic inclination measurement principle ............................................................................. 8
5.2. Measuring axis and direction ................................................................................................... 9
5.2.1. Measuring axis and direction for Inclination ..................................................................... 9
5.2.2. Measuring axis and direction for acceleration ................................................................ 10
5.2.3. Measuring axis and direction for gyroscope .................................................................. 10
5.3. Signal processing ................................................................................................................... 11
5.3.1. Sampling rate ................................................................................................................. 11
5.3.2. Sensor fusion algorithm ................................................................................................. 11
5.3.3. Digital filters .................................................................................................................... 11
5.4. Function Mode ....................................................................................................................... 12
5.5. Application profiles ................................................................................................................. 13
5.6. Output format ......................................................................................................................... 14
5.7. Boot-up procedure ................................................................................................................. 14
5.8. Emergency message ............................................................................................................. 15
5.9. LSS (Layer Setting Service, according to CiA305-DSP) ....................................................... 15
5.10. Firmware management .......................................................................................................... 16
5.11. Load factory default settings .................................................................................................. 16
5.12. Zero adjustment ..................................................................................................................... 17
5.13. EDS & DCF ............................................................................................................................ 17
5.14. Mappable objects ................................................................................................................... 18
6. CANopen specification ................................................................................................................... 19
6.1. CANopen Communication Objects (COB) ............................................................................. 19
6.2. Predefined CAN-IDs ............................................................................................................... 19
6.3. PDO (Reading sensor output) ................................................................................................ 20
6.4. SDO (configuring Object Dictionary) ...................................................................................... 20
6.5. NMT state ............................................................................................................................... 20
6.6. Object Dictionary (device parameters) ................................................................................... 21
7. CAN Object dictionary overview .................................................................................................... 22
7.1. Communication profile (Index 1000h - 1FFFh) ...................................................................... 22
7.1.1. Object 1001
h
Error register ............................................................................................ 24
7.1.2. Object 1002
h
Manufacturer status register..................................................................... 25
7.1.3. Object 1003
h
Predefined error field ................................................................................ 25
7.1.4. Object 1005h COB-ID SYNC message ......................................................................... 25
7.1.5. Object 1006
h
Communication cycle period .................................................................... 26
7.1.6. Object 1010
h
Store parameters ...................................................................................... 26
7.1.7. Object 1011
h
Restore factory default parameters .......................................................... 26
7.1.8. Object 1014
h
COB-ID EMCY ......................................................................................... 27
7.1.9. Object 1020
h
Verify configuration ................................................................................... 27
7.1.10. Object 1029
h
Error behaviour ......................................................................................... 27
7.1.11. Object 1800
h
, 1801
h
TPDO communication parameter ................................................. 27
7.1.12. Object 1A00
h
, 1A01
h
TPDO Mapping parameter ........................................................... 28