Balluff BSI R65K0-HXXA-M-S92 Series Configuration Manual Download Page 74

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3021

Parameters for application profile 0

Highest subindex supported

- 05

Reserved

U16

Output filter

100

7.2.7

Moving average filter TPDO1

7.2.8

Moving average filter TPDO2

3022

Parameters for Application Profile 1

Highest subindex supported

- 05

Reserved

U16

Output filter

7.2.7

Moving average filter TPDO1

7.2.8

Moving average filter TPDO2

3023

Parameters for Application Profile 2

Highest subindex supported

- 05

Reserved

U16

Output filter

7.2.7

Moving average filter TPDO1

7.2.8

Moving average filter TPDO2

3024

Parameters for Application Profile 3

Highest subindex supported

- 05

Reserved

U16

Output filter

100

7.2.7

Moving average filter TPDO1

7.2.8

Moving average filter TPDO2

3025

Parameters for Application Profile 4
(future use)

Highest subindex supported

- 08

Reserved

3026

Parameters for Application Profile 5
(future use)

Highest subindex supported

- 08

Reserved

3027

Parameters for Application Profile 6
(future use)

Highest subindex supported

- 08

Reserved

3028

Parameters for Application Profile
7(future use)

Highest subindex supported

- 08

Reserved

Table 25

– Manufacturer-specific profile

To permanently save manufacturer-specific parameters in the EEPROM of the device, use only CAN

Object 1010h, otherwise the changes will be lost after a power cycle. All indices and/or subindices not described
in the table are reserved exclusively for factory use.

Summary of Contents for BSI R65K0-HXXA-M-S92 Series

Page 1: ...deutsch Konfigurationsanleitung english Configuration guide BSI R65K0 HXXA M_ _ _ _ _ S92 BSI R65K0 HXXA M_ _ _ _ _ ST39...

Page 2: ...www balluff com...

Page 3: ...deutsch Konfigurationsanleitung BSI R65K0 HXXA M_ _ _ _ _ S92 BSI R65K0 HXXA M_ _ _ _ _ ST39...

Page 4: ...ervice 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 CA...

Page 5: ...ter mapping 33 7 2 6 Objekt 3021h 3027h User adjustable parameters for application profile 34 7 2 7 Subindex 06h Output filter 34 7 2 8 Subindex 07h 08h Moving average filter TPDO1 and TPDO2 34 7 3 St...

Page 6: ...interpretiert es sei denn das Ger t wird redundant in einem Steuerungssystem eingesetzt das f r eine gegenseitige Funktionskontrolle zwischen dem prim ren und dem redundanten Ger t ausgelegt und gete...

Page 7: ...ommunikationsprofil EN50325 4 CiA301 v4 0 und 4 2 0 CANopen Ger teprofil f r Neigungssensor CiA410 LSS Layer Setting Service implementiert TPDO1 CAN ID 180h Node ID und TPDO2 CAN ID 280h Node ID Ausg...

Page 8: ...in 1 Achs Neigungssensor muss senkrecht montiert werden Die werkseitig voreingestellte Nullposition ist mit dem Stecker nach unten zeigend Die Nullposition kann in jeder Position innerhalb des gesamte...

Page 9: ...L Abb 4 Pin Definition Der maximale Strom f r den internen T Verteiler betr gt 2 5 A Dies muss bei der Verwendung von Daisy Chain Verbindungen beachtet werden Die Spannungsversorgung muss so dimension...

Page 10: ...e sind ein separater M12 Abschlusswiderstand und ein T Stecker als Zubeh r erh ltlich Abb 5 M12 Stecker 5 Pin Abschlusswiderstand BCC09MR Abb 6 M12 Buchse 5 Pin Abschlusswiderstand BCC0A08 Abb 7 M12 T...

Page 11: ...nz des Neigungssensors deutlich erh ht In einem Steuerungssystem f hrt dies zu einer Geschwindigkeitsbegrenzung der Bewegungen und zu einer reduzierten Effizienz der Maschine Ein Gyroskop misst die Ge...

Page 12: ...hse Der Messbereich betr gt bis zu 90 Aufgrund des Messprinzips darf sich nur eine Achse um mehr als 45 neigen Abb 10 Messachse und richtung eines 2 Achs Neigungssensors Querneigungsfehler Wenn die Qu...

Page 13: ...ung der drei Achsen laut Werkseinstellung ist in Abbildung 11 dargestellt Abb 11 Messachse und Beschleunigungsrichtung 5 2 3 Messachse und richtung Gyroskop Im Gyroskopmodus 5 4 Function Mode misst de...

Page 14: ...tive Anwendungsprofil Objekt 3021h 3024h geschrieben Die Filtereinstellungen sind auf alle Abtastachsen wirksam sind aber standardm ig deaktiviert Durch Einstellen einer Zeitkonstante Zeit in der der...

Page 15: ...eintr gen konfiguriert Der Anwender kann die TPDO Mapping Objekte auch manuell definieren der Funktionsmodus wird dann auf Modus FFh benutzerdefinierter Modus ge ndert Funktions modus Ausgang TPDO map...

Page 16: ...disabled 0 Profile 2 Dynamic slow mode 10 s Dynamische Anwendungen mit langsamen Bewegungen Vibrationen wie z B Kr ne Plattformen Scherenhebeb hnen usw Objekt 3023 Output filter default 50 ms Moving a...

Page 17: ...ten liefert das Ger t auch Beschleunigung Drehrate und Ger tetemperatur Der Anwender kann die Ger teausg nge durch ndern der TPDO Mapping Parameter individuell anpassen Objekt 1A00h 1A01h Zum Beispiel...

Page 18: ...h Sent at every change of the manufacturer status register 81 xxh CANopen stack message 82 xxh CANopen stack message FF 20h EEPROM error Tabelle 7 Format EMCY Nachricht Wenn alle Fehler behoben sind g...

Page 19: ...tandardwert COB ID SYNC 1005h 00000080h Communication Cycle Period 1006h 00h Guard Time 100Ch 00h Life Time factor 100Dh 00h COB ID EMCY 1014h 00000081h Emergency Inhibit Time 1015h 00h Producer heart...

Page 20: ...messen des Kunden 2 Achsen 30 90 Sensoren k nnen nur in horizontaler Lage innerhalb einer Versatzgrenze von 5 auf Null abgeglichen werden Nachdem Sie die Werkseinstellungen geladen haben wird der Sens...

Page 21: ...dinal Output X axis Inclination with the resolution in object 6000h 6020h 00h S16 Inclination Y axis lateral Output Y axis Inclination with the resolution in object 6000h 6401h Sensor Outputs 00h U8 H...

Page 22: ...en zu berwachen neu zu starten oder zu stoppen SYNC Synchronization object stellt den grundlegenden Netzwerk Synchronisationsmechanismus bereit EMCY Emergency object wird verwendet um interne Fehler a...

Page 23: ...40h Expedited Read 43h Read reply 4 bytes 47h Read reply 4 bytes 4Bh Read reply 4 bytes 4Fh Read reply 4 bytes SDO download Write to device Client Server 23h Expedited Write 4 Bytes 27h Expedited Wri...

Page 24: ...ex adressiert Index Bereich Objekt Beschreibung 1000h 1FFFh Communication profile area Parameter f r die Kommunikation wie SDO PDO NMT usw 2000h 5FFFh Manufacturer specific profile area Parameter f r...

Page 25: ...sensor e g V1 0 0 1010h Store parameters Write save to sub 01h to 04h 7 1 6 00h U8 const highest subindex supported 04h 01h U32 rw Save all parameters 01h 02h U32 rw Save communication parameters 01h...

Page 26: ...operational 01h does not change state 02h switches to stopped 03h FFh reserved 00h 1800h TPDO1 communication parameter 7 1 11 00h U8 const Highest subindex supported 05h 01h U32 rw COB ID used by TPDO...

Page 27: ...00000004h start in state pre operational 00000000h start in state operational 00000000h 7 1 13 Tabelle 16 Communication Profile Um Kommunikationsparameter dauerhaft im EEPROM des Ger ts zu speichern v...

Page 28: ...e 18 Hersteller Fehlercode Der Fehlercode kann in die TPDO Nachricht gemappt werden ber Objekt 301Fh 7 1 3 Objekt 1003h Predefined error field Dieses Objekt liefert eine Fehlerhistorie des Ger ts Die...

Page 29: ...Abl ufe Um die Werkseinstellungen nach einem Load zu aktivieren ist ein direkter NMT Neustart oder ein erneutes Einschalten erforderlich F hren Sie vor dem Neustart des Ger ts kein Save aus da sonst...

Page 30: ...nn aktuell im NMT Zustand Operational 01h Keine nderung des NMT Zustands 02h Wechsel in den NMT Zustand Stopped 03h FFh reserviert 02h Profile or manufacturer specific error Tabelle 19 Objekt 1029h Fe...

Page 31: ...zwei Objekten 01h Mapping Objekt 1 60100010h Index 6010h Subindex 00h Datenl nge 10h 16Bits Neigung X Achse longitudinal 02h Mapping Objekt 2 60200010h Index 6020h Subindex 00h Datenl nge 10h 16Bits...

Page 32: ...iesem Zustand wird der Ger teausgang mit TPDO1 gesendet und es wird ein Heartbeat mit dem Wert 05h gesendet der anzeigt dass sich der Sensor jetzt im Zustand Operational befindet Um das Ger t stattdes...

Page 33: ...ode 1 02h Mode 2 03h Mode 3 04h Mode 4 05h Mode 5 FFh Mode FF user defined mode 00h 7 2 2 300Dh Moving average filter 5 3 3 00h U8 r Highest subindex supported 01h U8 rw Moving average number N for TP...

Page 34: ...upported 08h 01h 05h S8 rw Reserved 0d 06h U16 rw Output filter 100d 7 2 7 07h U8 rw Moving average filter TPDO1 10d 7 2 8 08h U8 rw Moving average filter TPDO2 0d 3025h Parameters for Application Pro...

Page 35: ...ichende Ausrichtung X und Y vertauscht X und Y invertiert rw 02h Mode 2 Neigung CiA410 Temperatur rw 03h Mode 3 Beschleunigung 3 Achsen Reine Beschleunigung ohne Kompensation dynamischer Effekte rw 04...

Page 36: ...CY Meldung 0x8000 Monitoring bei jeder nderung der Hersteller Statusregisterbits Tabelle 29 Objekt 1002h Fehler Bit Der werkseitige Standardwert ist 80001D40h 1000000000000001110101000000b der folgend...

Page 37: ...timmten Applikationsprofil einzustellen Verwenden Sie das Objekt 300Eh wenn Sie diesen Filter auch f r das aktive Applikationsprofil einstellen wollen Die Grenzfrequenz wird nach folgender Formel bere...

Page 38: ...ling 1 enable 0 disable 02h 7 3 1 6022h 00h S16 rw Pre set Inclination Y axis 0000h 7 3 3 6023h 00h S16 rw Offset Inclination Y axis 0000h 7 3 4 6401h Sensor Outputs 7 3 5 00h U8 r Highest subindex su...

Page 39: ...set inclination value Verwenden Sie diese Objekte um voreingestellte Neigungswerte f r die X und Y Achse an einer bestimmten Position zu speichern mit der in Objekt 6000h angegebenen Aufl sung Die Au...

Page 40: ...ssung durch internes MEMS Sensorelement 0Bh S16 X Beschleunigung mit Kompensation 0 1 mg Beschleunigungswert mit Kompensation dynamischer Effekte 0Ch S16 Y Beschleunigung mit Kompensation 0 1 mg 0Dh S...

Page 41: ...mative Verweise CiA301 CANopen application layer and communication profile Version 4 2 0 CiA303 1 Cabling and connector pin assignment Part 1 Cabling and connector pin assignment Version 1 9 0 CiA305...

Page 42: ......

Page 43: ...english Configuration guide BSI R65K0 HXXA M_ _ _ _ _ S92 BSI R65K0 HXXA M_ _ _ _ _ ST39...

Page 44: ...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 CAN...

Page 45: ...r mapping 33 7 2 6 Object 3021h 3027h User adjustable parameters for application profile 34 7 2 7 Subindex 06h Output filter 34 7 2 8 Subindex 07h 08h Moving average filter TPDO1 and TPDO2 34 7 3 Stan...

Page 46: ...cept when used redundantly in a control system that is designed and tested for cross check functionality between the primary and redundant devices 1 2 Incorrect use Use of non standard CAN cables Devi...

Page 47: ...file EN50325 4 CiA301 v4 0 and 4 2 0 CANopen device profile for inclinometer CiA410 LSS Layer Setting Service implemented TPDO1 CAN ID 180h Node ID and TPDO2 CAN ID 280h Node ID Outputs inclination X...

Page 48: ...ctly flat surface A 1 axis inclinometer must be mounted vertically The factory default zero position is with the male connector pointing down Sensor can be zero adjusted at any position within the ful...

Page 49: ...d Pin 2 Vcc Pin 3 Gnd CAN_GND Pin 4 CAN_H Pin 5 CAN_L Figure 4 Pin definition The maximum current for the internal T junction is 2 5 A This must be taken into account when using daisy chained connecti...

Page 50: ...stor and T connector are also available as accessories for CANopen devices Figure 5 M12 male 5 pin termination resistor BCC09MR Figure 6 M12 female 5 pin termination resistor BCC0A08 Figure 7 M12 T co...

Page 51: ...gnificantly increases the reaction time latency of the inclinometer In a control system this results in a limit on the speed of movements and reduced machine efficiency A gyroscope measures the speed...

Page 52: ...is Measuring range is up to 90 Due to the measurement principle only one axis may tilt more than 45 Figure 10 Measuring axis and direction of 2 axis inclination Cross tilt error when the cross axis ax...

Page 53: ...hree axes in the factory default setting is shown in Figure 11 Figure 11 Measuring axis and direction of acceleration 5 2 3 Measuring axis and direction for gyroscope In gyroscope mode 5 4 Function Mo...

Page 54: ...stant time in which the output changes to 70 of the step after a step response the 3 dB frequency can be calculated by the formula f 1 2 A longer filter time results in a narrower bandwidth and theref...

Page 55: ...CiA410 TPDO1 6010h 00h 1 axis model TPDO1 6010h 00h 6020h 00h 2 axis model TPDO2 disabled Mode 1 Inclination CiA410 Alternative orientation TPDO1 6010h 00h 1 axis model inverted TPDO1 6020h 00h 6010h...

Page 56: ...ault disabled 0ms Moving average filter default disabled 0 Profile 2 Dynamic slow mode 10 s Dynamic applications with slow movements vibrations such as cranes platforms scissor lifts etc Object 3023 O...

Page 57: ...090 S92 ST39 Besides inclination values the device also provides acceleration angular rate and device temperature The user can customise the device outputs by changing the TPDO mapping parameters Obje...

Page 58: ...dog error 62 00h Device software error 80 00h Sent at every change of the manufacturer status register 81 xxh CANopen stack message 82 xxh CANopen stack message FF 20h EEPROM error Table 7 format EMCY...

Page 59: ...le Period 1006h 00h Guard Time 100Ch 00h Life Time factor 100Dh 00h COB ID EMCY 1014h 00000081h Emergency Inhibit Time 1015h 00h Producer heartbeat time 1017h 2000d 2000 ms Error behaviour 1029h 00h S...

Page 60: ...is at customer discretion 2 axis 30 90 sensors can only be zero adjusted in a horizontal position within an offset limit of 5 After you load factory default settings the sensor will be restored with t...

Page 61: ...Output X axis Inclination with the resolution in object 6000h 6020h 00h S16 Inclination Y axis lateral Output Y axis Inclination with the resolution in object 6000h 6401h Sensor Outputs 00h U8 Highest...

Page 62: ...o initialize monitor restart or stop the sensor SYNC Synchronization object provides the basic network synchronization mechanism EMCY Emergency object is used to indicate internal errors Heartbeat Hea...

Page 63: ...e Server Client 40h Expedited Read 43h Read reply 4 bytes 47h Read reply 4 bytes 4Bh Read reply 4 bytes 4Fh Read reply 4 bytes SDO download Write to device Client Server 23h Expedited Write 4 Bytes 27...

Page 64: ...an 8 bit subindex Index Range Object Description 1000h 1FFFh Communication profile area Parameters for communication such as SDO PDO NMT etc 2000h 5FFFh Manufacturer specific profile area Parameters...

Page 65: ...or e g V1 0 0 1010h Store parameters Write save to subindex 01h to 04h 7 1 6 00h U8 const highest subindex supported 04h 01h U32 rw Save all parameters 01h 02h U32 rw Save communication parameters 01h...

Page 66: ...operational 01h does not change state 02h switches to stopped 03h FFh reserved 00h 1800h TPDO1 communication parameter 7 1 11 00h U8 const Highest subindex supported 05h 01h U32 rw COB ID used by TPDO...

Page 67: ...U32 rw NMT Start up behaviour 00000004h start in state pre operational 00000000h start in state operational 00000000h 7 1 13 Table 16 Communication Profile To permanently save communication parameter...

Page 68: ...Error bits Table 18 Manufacturer error code The error code can be mapped into the TPDO message via Object 301Fh 7 1 3 Object 1003h Predefined error field This object provides an error history of the d...

Page 69: ...te Procedures A direct NMT restart or new power cycle is required to enable the factory default settings after a load Do not execute save before you restart the device as this will cause the current w...

Page 70: ...in NMT state Operational 01h No change of the NMT state 02h Change to NMT state Stopped 03h FFh reserved 02h Profile or manufacturer specific error Table 19 Object 1029h error behaviour Failures incl...

Page 71: ...h TPDO1 consists of value from 2 objects 01h Mapping object1 60100010h Index 6010h subindex 00h data length 10h 16bits Inclination X axis longitudinal 02h Mapping object2 60200010h Index 6020h subinde...

Page 72: ...rnal tests In this state device output will be sent with TPDO1 and a heartbeat with value 05h will be sent indicating that the sensor is now in Operational state To have the device start instead in Pr...

Page 73: ...ode 1 02h Mode 2 03h Mode 3 04h Mode 4 05h Mode 5 FFh Mode FF user defined mode 00h 7 2 2 300Dh Moving average filter 5 3 3 00h U8 r Highest subindex supported 01h U8 rw Moving average number N for TP...

Page 74: ...8 r Highest subindex supported 08h 01h 05h S8 rw Reserved 0d 06h U16 rw Output filter 100d 7 2 7 07h U8 rw Moving average filter TPDO1 10d 7 2 8 08h U8 rw Moving average filter TPDO2 0d 3025h Paramete...

Page 75: ...ternative orientation X and Y swapped X and Y inverted rw 02h Mode 2 Inclination CiA410 Temperature rw 03h Mode 3 Acceleration 3 axes Pure acceleration without dynamic effects compensation rw 04h Mode...

Page 76: ...sage 0x8000 Monitoring at every change of the manufacturer status register bits Table 29 object 1002h Error bit The factory default value is 80001D40h 10000000000000000001110101000000b which includes...

Page 77: ...time for a 1st order LPF for all sensing axes in a specific application profile Use object 300Eh if you also wish to set this filter for the active application profile The cut off frequency is calcula...

Page 78: ...1 scaling 1 enable 0 disable 02h 7 3 2 6022h 00h S16 rw Pre set Inclination Y axis 0000h 7 3 3 6023h 00h S16 rw Offset Inclination Y axis 0000h 7 3 4 6401h Sensor Outputs 7 3 5 00h U8 r Highest subind...

Page 79: ...6012h 6022h Pre set inclination value Use these objects to store pre set inclination values for the X and Y axis at a certain position with the resolution given in object 6000h The outputs will be the...

Page 80: ...sured by internal MEMS sensing element 0Bh S16 X acceleration dynamic compensated 0 1 mg Acceleration value with dynamic effects compensation 0Ch S16 Y acceleration dynamic compensated 0 1 mg 0Dh S16...

Page 81: ...tive references CiA301 CANopen application layer and communication profile Version 4 2 0 CiA303 1 Cabling and connector pin assignment Part 1 Cabling and connector pin assignment Version 1 9 0 CiA305...

Page 82: ...ngshan Rd 8F Building A Yunding International Commercial Plaza 200125 Pudong Shanghai Phone 86 400 820 0016 Fax 86 400 920 2622 service cn balluff com cn DACH Service Center Germany Balluff GmbH Schur...

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Summary of Contents for BSI R65K0-HXXA-M-S92 Series

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