SICK TMM61 Series, Operating Instructions Manual

Page: 40 / 44

NOTE
If minor differences in angle are entered under 3001.02h and 03h, we recommend
activating the digital filter (index 3000h) in order to minimize the effect of vibrations
and thus the frequent sending of Transmit PDO 1.
9.7.3 Profile-specific part (to CiA DS-410)
Table 43: Profile-specific part of the object directory
Index Subind
ex
Parameter Data
type
Access Default
value
Storage
6000h 0 Resolution (multiple of 0.001°) UNS16 ro 10
6010h 0 Inclination value, longitudinal (X axis,
100x angle value in °) INT16 ro -
6011h 0 Operating parameter, longitudinal
(inversion, zero-point setting) UNS8 rw 0 x
6012h 0 Default value for longitudinal (X) axis INT16 rw 0 x
6013h 0 Offset value for longitudinal (X) axis INT16 rw 0 x
6014h 0 Difference offset value for longitudi‐
nal (X) axis INT16 rw 0 x
6020h 0 Inclination value, lateral (Y axis, 100x
angle value in °) INT16 ro -
6021h 0 Operating parameter, lateral (inver‐
sion, zero-point setting) UNS8 rw 0 x
6022h 0 Default value for lateral (Y) axis INT16 rw 0 x
6023h 0 Offset value for lateral (Y) axis INT16 rw 0 x
6024h 0 Difference offset value for lateral (Y)
axis INT16 rw 0 x
9.7.3.1 Resolution (6000h)
The resolution of all inclination sensors is set to a fixed value of 0.01° (default: 10 *
0.001°). All angle values in the object directory (6010h, 6012h, 6013h, 6014h plus
6020h, 6022h, 6023h, 6024h) must be interpreted as a multiple of 0.01°.
Example:
Angle value = -2370 x 0.01° → -23.70°
9.7.3.2 Longitudinal and lateral angle values (6010h and 6020h)
Up-to-date angle values for the inclination axes can be accessed both via SDO access
to the object directory (in any device status) and with a Transmit PDO. When zero-point
setting is activated (operating parameters: 6011h and 6021h), the inclination angle is
calculated as follows:
Inclination value = inclination value physically me difference offset value +
offset value
When zero-point setting is deactivated:
Inclination value = physically measured inclination value
Operating parameters (6011h and 6021h) describes how the 100x signed 16-bit incli‐
nation value (two's complement) is converted.
Example:
Value range, TMS type: -18,000 ... +17,999 → -180.00° ... +179.99° = 0 ...359.99°
Value range, type TMM: -9,000 ... +9,000 → - 90.00° ... + 90.00°
9
CANOPEN INTERFACE
40 OPERATING INSTRUCTIONS | TMS/TMM88, TMS/TMM61 8019054/14IT/2019-06-27 | SICK
Subject to change without notice