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User Manual - QG65D CANopen Dynamic Inclinometer (Type H) V2.3

6.14.

Mappable objects

Objects that can be mapped into the TPDO message.

Index

Subindex

Type

Object name and description

1001

Error register

= No error

= Error detected

1002

Manufacturer status register

1013

U32

High Resolution Timestamp

301F

Manufacturer status register mapping

Highest subindex supported

Manufacturer Status Register bits 0 - 7

Manufacturer Status Register bits 8 - 15

Manufacturer Status Register bits 16 - 23

Manufacturer Status Register bits 24 - 31

6010

S16

Inclination X-axis (longitudinal)

Output X-axis. Inclination [°] with the resolution in object 6000

hse

6020

S16

Inclination Y-axis (lateral)

Output Y axis.

Inclination [°] with the resolution in object 6000

6401

Sensor Outputs

Highest subindex supported

S16

X acceleration [1mg]

S16

Y acceleration [1mg]

S16

Z acceleration [1mg]

S16

X inclination

scale ±180°

[0.01°]

S16

Y inclination

scale ±180°

[0.01°]

S16

Reserved

S16

X rotation [0.01°/s]

S16

Y rotation [0.01°/s]

S16

Z rotation [0.01°/s]]

S16

Temperature [0.1 °C]

S16

X acceleration dynamic compensated [0.1 mg]

S16

Y acceleration dynamic compensated [0.1 mg]

S16

Z acceleration dynamic compensated [0.1 mg]

U16

X inclination

scale 0°-360°

[0.01°]

U16

Y inclination

scale 0°-360°

[0.01°]

6511

S16

Device Temperature [1

◦

Table 11 - Mappable objects

Содержание QG65D

Страница 1: ...1 Feb 2101 02 2021 USER MANUAL QG65D CANopen Dynamic Inclinometer Type H V2 3 Mar 22...

Страница 2: ...ng 13 6 3 1 Sampling rate 13 6 3 2 Sensor fusion algorithm 13 6 3 3 Digital filters 13 6 4 Function mode 14 6 5 Application profiles 15 6 6 Output format 16 6 7 Boot up procedure 17 6 8 Emergency mess...

Страница 3: ...ero adjustment Inclination 36 8 2 4 Object 301Eh Manufacturer status register error mask 37 8 2 5 Object 301Fh Manufacturer status register mapping 37 8 2 6 Object 3021h 3027h User adjustable paramete...

Страница 4: ...ce is properly configured for its intended use The device is mounted correctly as described in the datasheet and user manual The device data is expressly not interpreted as safety data except when use...

Страница 5: ...Xv 360 CAN C F M UL 1 axis 180 vertical mounting std accuracy QG65D KDXYh 090 CAN C F M UL 2 axes 90 horizontal mounting std accuracy QG65D KDXYh 030 CAN C F M UL 2 axes 30 horizontal mounting std acc...

Страница 6: ...6 5 add zero offset value to Load default description 6 11 Added 6 14 and 8 3 1 Added 2 missing error codes in 6 8 Corrected objects sequence in mode 2 Temperature as the 1st object Added message str...

Страница 7: ...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 180h Node ID and...

Страница 8: ...ve as a mechanical reference Tightening torque max 2 5 Nm A higher torque can cause damage to the housing or the internal electronics Fix the sensor to a perfectly flat surface A 1 axis inclinometer m...

Страница 9: ...Pin Assignment Pin 1 Shield 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 u...

Страница 10: ...or and T connector are also available as accessories for CANopen devices Figure 5 M12 CAN terminator male 5p Order code 10217 Figure 6 M12 CAN terminator female 5p Order code 10194 Figure 7 M12 T conn...

Страница 11: ...time latency In a control system this results in a limit on the speed of movements and reduced machine efficiency A gyroscope measures the speed of rotation which can be integrated to get the actual i...

Страница 12: ...ion on both X and Y axis The 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 er...

Страница 13: ...y default setting is shown in Figure 11 Figure 11 Measuring axis and direction of acceleration The high accuracy model has a measuring range of 1 5g while the standard accuracy model has 2g 6 2 3 Meas...

Страница 14: ...or the reduction of bandwidth and filtering noise Each application profile has its own default filter settings which can be set via subindex 06h of CAN object 3021h to 3024h Another way to control the...

Страница 15: ...nd rotation By selecting the function mode via object 3007h the sensor is configured to function as an inclinometer accelerometer gyroscope or a fusion sensor Once a function mode is selected the TPDO...

Страница 16: ...led Profile 2 Dynamic slow mode Dynamic applications with slow movements vibrations such as cranes platforms scissor lifts rotation 10 s rotation etc Object 3023 Output filter Moving average filter 50...

Страница 17: ...s with 4 bytes integer The 1st two bytes are the X inclination and the 2nd two bytes are the Y inclination Table 6 Byte3 Byte2 Byte1 Byte0 Y inclination X inclination 00h 82h 0Bh C8h 0080h 130d 1 3 0B...

Страница 18: ...ed The error code is inserted at the location of object 1003h pre defined error field and the device enters the error state which is defined in Object 1029h Error Behaviour default NMT pre operational...

Страница 19: ...ion layer on a CANopen device via the CAN network It is supported only in NMT stop mode or pre operational mode The QG65D device is serviced as a CAN device and a CAN master such as a PLC can detect a...

Страница 20: ...installed firmware version might vary from the version on the sticker due to a firmware update Always check the actual version in the object dictionary It will soon be possible to update the firmware...

Страница 21: ...me 1017h 2000d 2000 ms Error behaviour 1029h 00h Switch to pre operational NMT Start up behaviour 1F80h 00000000h Start in operational Node ID 3000h 01h Baud Rate 3001h 03h 250 kBit s Termination resi...

Страница 22: ...position of the male connector 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...

Страница 23: ...nation X axis longitudinal Output X axis Inclination with the resolution in object 6000hse 6020h 00h S16 Inclination Y axis lateral Output Y axis Inclination with the resolution in object 6000h 6401h...

Страница 24: ...sfer real time data NMT Network Management object is used to execute network management services to initialize monitor restart or stop the sensor SYNC Synchronization object provides the basic network...

Страница 25: ...itted with TPDOs can be configured with TPDO mapping parameters object 1A00h and 1A01h 7 4 SDO configuring Object Dictionary The Service Data Object SDO is used to set and request values from the obje...

Страница 26: ...00h Device is initialised with default power on values Table 15 NMT states and communication objects 7 6 Object Dictionary device parameters The object dictionary is a collection of data items that i...

Страница 27: ...rted 04h 01h U32 rw Save all parameters 02h U32 rw Save communication parameters 03h U32 rw Save application parameters 04h U32 rw Save manufacturer specific parameters 1011h Restore default parameter...

Страница 28: ...h U8 rw Transmission type FFh event driven 01h sync FFh 03h U16 rw Inhibit time 0000h 05h U16 rw Event timer 0064h TPDO2 event time 100 ms 1A00h TPDO1 mapping parameter 8 1 12 00h U8 rw Number of mapp...

Страница 29: ...dication Bit 3 Inclination Y axis lateral out of range indication Bit 4 Temperature Under operational limit e g T 40 C specified in the datasheet Bit 5 Temperature Over operational limit e g T 85 C sp...

Страница 30: ...8 Emergency message 02h 10h Oldest error highest subindex A maximum of 16 errors emergency messages are stored Table 21 Predefined error field Writing 00h to subindex 00h will delete the entire error...

Страница 31: ...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 working environment settings to overwrite i e store the de...

Страница 32: ...essary 8 1 10 Object 1029h error behaviour This object configures the device to enter the selected NMT state when a serious failure is detected By default subindex 01h and 02h are both preconfigured w...

Страница 33: ...ng parameters for TPDO1 Object 1A01h contains the mapping parameters for TPDO2 The value indicates the index subindex of the mapped object and the data length For example with factory default settings...

Страница 34: ...00281h Table 27 Procedure for configuring TPDO mapping parameters The TPDO mapping parameters vary according to the user selected Function Mode 8 1 13 Object 1F80h NMT start up behaviour This object c...

Страница 35: ...ion Mode 00h Mode 0 01h Mode 1 02h Mode 2 03h Mode 3 04h Mode 4 05h Mode 5 FFh Mode FF user defined mode 00h 8 2 2 300Dh Moving average filter 6 3 3 00h U8 r Highest subindex supported 01h U8 rw Movin...

Страница 36: ...n Profile 3 00h U8 r Highest subindex supported 08h 01h 05h S8 rw Reserved 0d 06h U16 rw Output filter 100d 8 2 7 07h U8 rw Moving average filter TPDO1 10d 8 2 8 08h U8 rw Moving average filter TPDO2...

Страница 37: ...nation CiA410 Rw 01h Mode 1 Inclination CiA410 alternative 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...

Страница 38: ...ON OFF sending of EMCY message 0x8000 Monitoring at every change of the manufacturer status register bits Table 33 object 1002h Error bit The factory default value is 80001D40h 10000000000000000001110...

Страница 39: ...arameters for application profile 8 2 7 Subindex 06h Output filter Use subindex 06h of objects 3021h 3027h to set the filter time for a 1st order LPF for all sensing axes in a specific application pro...

Страница 40: ...ring range of the sensor Subindex Name Value 01h Lower Sub Range Limit 00h sub range disabled default 6000d 60 02h Upper Sub Range Limit 00h sub range disabled default 6000d 60 e g Lower sub range lim...

Страница 41: ...le 02h 8 3 2 6022h 00h S16 rw Pre set Inclination Y axis 0000h 8 3 3 6023h 00h S16 rw Offset Inclination Y axis 0000h 8 3 4 6401h Sensor Outputs 8 3 5 00h U8 r Highest subindex supported 0Fh 01h S16 r...

Страница 42: ...t inclination values for the X and Y axis at a certain position with the resolution given in object 6000h The outputs will be then adjusted to the stored pre set value The offset is stored in Object 6...

Страница 43: ...6 Y rotation Pitch 0 01 s 09h S16 Z rotation Yaw 0 01 s 0Ah S16 Temperature 0 1 C Temperature measured by internal MEMS sensing element 0Bh S16 X acceleration dynamic compensated Acceleration value wi...

Страница 44: ...0 3 m CAN cable for connecting the sensor Item 4 Power adaptor Figure 22 the power adaptor is an EU adaptor users in other regions might need a converter which is not included Figure 21 Connection of...

Страница 45: ...r box then the internal power supply and the current overload protection are disabled If the CAN configurator is not used stand alone i e only configurator DIS sensor but is connected to a powered CAN...

Страница 46: ...is chapter is based on the first released version The changes will only be updated in the separate manual for the configurator which you can also download from the DIS website Key features Sensor dete...

Страница 47: ...Apply button to save the changes to the sensor device This can take a little time after which the new settings will take effect General configuration Error behaviour TPDO parameters and parameters for...

Страница 48: ...l The PC software supports all TPDO mapping options including 0 360 output This output can therefore be used by a pilot customer as 0 360 values are transferred in the TPDO message Device profile incl...

Страница 49: ...data tab shows the real time sensor outputs The chart can also be c as an image Figure 32 Live data Application Profiles can be selected Parameters for each application profile can be adjusted User ad...

Страница 50: ...Page 49 of 50 User Manual QG65D CANopen Dynamic Inclinometer Type H V2 3 Future versions of this software will support the upgrading of the firmware Figure 33 Firmware update...

Страница 51: ...a Object SYNC Synchronization TPDO Transmit PDO 11 Normative references CiA301 CANopen application layer and communication profile Version 4 2 0 CiA303 1 Cabling and connector pin assignment Part 1 Ca...

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