Inclination sensor JN
22
9.10 Inclination values longitudinal and lateral (SDO index 6010h and
SDO index 6020h)
The current angle values of the inclination axes can be accessed via SDO access
to the object directory (in every device state) and via TPDO. The conversion of the
100-fold, signed 16-bit inclination value (two's complement) is as follows:
Value of the SDO index 6010h = -2370, thus the angle is -2370 / 100 = -23.70°
9.11 Inversion of the angle values
The operating parameter settings of the inclination sensor 6011h/6021h for 16 bit
angle values and the parameters 6111h/6121h for 32 bit angle values make it pos-
sible to change the counting direction and the +/- sign.
This option is deactivated on delivery, the direction of the angle value (polarity
of the axes) corresponds with the assignment indicated on the type label of the
device.
If the value 1 is written under the corresponding index that is mentioned above, the
corresponding angle value is provided inverted.
This option depends on the set quadrant correction (SDO-Index 0x2040) 0…360° or +180°…-180°.
Reversal of direction of rotation at 0…360°; sign inversion at -180…+180°.
9.12 Programming key (SDO index 3000h)
The sensor can convert the parameter setting unambiguously into a Base64-
coded key. By means of this key sensors with the same parameter setting can be
duplicated in an easy way.
The programming key can be read from and written to SDO index 3000h sub-index
0. To ensure that only valid keys are accepted by the firmware a 2-byte checksum
(CRC) is calculated and added to the end of the key.
The following parameters are coded by the key
Parameter
SDO index
SDO sub-index
Node ID
0x2000
0x00
Baud rate
0x2001
0x00
Quadrant correction
0x2040
0x00
Heating on
0x2041
0x00
Teach index
0x2042
0x00
FIR filter angle
0x2043
0x00
Angle calculation
0x2044
0x00
CAN 120 Ohm resistor
0x2045
0x00
Set zero point
0x2046
0x00
Resolution
0x6000
0x00
The default setting of the programming key is: D0UfZEgRKHAl5Ag=