www.balluff.com
4
3.
Quick Refe rence
General
•
1-axis ± 180° and 2-axes ± 30° dynamic inclinometer
•
Output type: CANopen
•
Inclination, acceleration, gyroscope outputs defined by Function modes
(→ object 3007
h
)
•
4 application profiles for inclination measurement in specific
applications (→ object 3004
h
)
•
Sensor outputs can be customised using TPDO mapping parameters
(→ object 1A00
h
)
•
Internal sample rate MEMS: 1000Hz; output rate: 100 Hz
•
Dynamic inclination application limitations: max. acceleration 1.5 g, max. angle rate 500°/s
•
Output filter: adjustable 1
st
order Low Pass Filter (LPF)
(→ sub 06
h
of object 3021
h
to 3024
h
or object
300E
h
)
•
Moving average filter: averaging time interval adjustable from 10 ms to 100 ms
(→ sub 07
h
of object
3021
h
to 3024
h
or object 300D
h
)
•
Approved for automotive use, approval number: E4-10R-05-4662
CAN, CANopen
•
CAN interface: CAN2.0 A/B (compliant with ISO11898-1&2)
•
CANopen application layer and communication profile: EN50325-4 (CiA301 v4.0 and 4.2.0)
•
CANopen device profile for inclinometer: CiA410
•
LSS (Layer Setting Service) implemented
•
TPDO1 (CAN-ID: 180
h
+ Node ID) and TPDO2 (CAN-ID: 280
h
+ Node ID)
•
Outputs: inclination
X-axis (longitudinal)
in object 6010
h
;
inclination Y-axis (lateral)
in object 6020
h
•
Internal switchable CAN termination resistor: default off
(→ object 3003
h
)
•
CAN bus bit rate: default 250 kbit/s
(→ object 3001
h
)
•
Node ID: default 01
h
(→ object 3000
h
range: 01
h
– 7F
h
, max. 127 nodes)
•
Heartbeat: default on, 2 s
(→ object 1017
h
)
•
Two modes of PDO transmission
(→ object 1800
h
/ 1801
h
)
- Event mode: default on, event timer default 100 ms (range 10 ms
– 500 ms)
- Sync mode: default off
•
Vendor ID Balluff: 010000E8
h
(→ object 1018
h
)
•
Firmware version available via CAN Object Dictionary
(→ object 3001
h
)
•
Serial number format: xxxxxx-xxx
(→ object 3001
h
)
•
Zero adjustment of inclination available via CAN Object Dictionary (
→ object 300F
h
).
•
Pre-set inclination setting
available via CAN Object Dictionary (→ objects 6012
h
and 6022
h
).
•
Bootup in NMT Operational state
(→object 1F80
h
)
•
Negative values: two’s complement
•
Byte-sequence on CAN bus: little-endian (least significant byte first)
