IK360 -CAN
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Date: 23.01.2017 Page 6 of 41 Art.no. 86089 Mod. Status 10/17
In addition to high resolution, accuracy and protection class of IP69K, it has in-built active
linearization and temperature compensation. This makes IK360; IK360L suitable for rugged
environments and versatile applications in industrial, heavy duty and military applications.
The inclinometer supports the following operating modes:
Polled mode:
The position value is transmitted only on request.
Cyclic mode:
The position value is sent cyclically (regular, adjustable intervals) on the bus.
SYNC mode:
The position value is sent, after a synchronization message (SYNC) is
received. The position value is
sent every n SYNCs (n ≥ 1).
State change mode:
The position value is transmitted, whenever the position of the
inclinometer, in continuous operation, changes.
The CANopen interface of the IK360 inclinometer permits transmission rates of up to 1 MBaud/s
(30 m / 100 ft cable for a maximum speed of 1 MBaud/s, 5000 m / 16,500 ft cable for a
maximum speed of 10 kBaud/s).
The IK360 CANopen is a flexible measurement device. This is proved by the fact, that it has
easily programmable parameters like resolution, preset and software filters. Other functions
such as offset values, baud rate and node number can also be configured using CANopen
objects in the IK360 inclinometers with ease and according to the network.
Various software tools for configuration and parameter-setting are available from different
suppliers. It is easy to align and program the inclinometers using the EDS (electronic data
sheet) configuration file provided.
3
IK360
– Modes and Parameters
The purpose of this chapter is to describe all the available configuration parameters of the IK360
inclinometers with a CANopen interface.
Before going into details the following information describes useful technical terms and
acronyms for CANopen network communication.
EDS (Electronic Data Sheet)
An EDS file describes the communication properties of a device on the CAN network (baud
rates, transmission types, I/O features, etc.). It is provided by the device manufacturer and is
used in the configuration tool to configure a node.
PDO (Process Data Object)
CANopen frame containing I/O data.
We distinguish between:
Transmit-PDOs (TPDOs with data provided by a node).
Receive-PDOs (RPDOs with data to be consumed by a node).
The transmission direction is always seen from a node's point of view.
SDO (Service Data Object)
CANopen frames containing parameters. SDOs are typically used to read or write parameters,
while the application is running.