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Inclination sensor JN

7.5 Service data object (SDO) mapping
7.5.1 System settings 0x2000 - 0x203F

SDO

Index

Sub-

index

Type

Value

Unit

r/w

Reset

0x2000

0x0

Node ID

0x2001

0x0

u16

Baud rate

Kbit

0x2002

0x0

Flag to reset the sensor

Flag = 1 sensor reset

7.5.2 Applicative 0x2040 - 0x207F

SDO

Index

Sub-

index

Type

Value

Unit

r/w

Reset

0x2040

0x0

Flag for quadrant correction

0: off

1: on ± 180°

2: on 0...360°

0x2041

0x0

Flag for heating

Flag = 0: heating off

Flag = 1: heating on

0x2042

0x0

Index teach values of the x/y/z axes

0: no change

1: set teach, relative measurement

2: reset teach, absolute measurement

0x2043

0x0

FIR filter step

0: FIR deactivated

1: FIR 10 Hz

2: FIR 5 Hz

3: FIR 1 Hz

4: FIR 0.5 Hz

0x2044

0x00

Angle calculation

0: perpendicular

1: Euler

2: gimbal 1X

3: gimbal 1Y

0x2045

0x00

CAN 120 Ω terminating resistor

0: resistor deactivated

1: resistor activated

0x2046

0x0

Set zero point of the x /y axes
0: no change
1: set zero (corresponds to the

relative measurement)
2. reset set zero (corresponds to the

absolute measurement)

0x2047

0x0

Output value
0: angle
1: Veff (V effective ) & aPeak (a peak)

Содержание Efector 410 JN2100

Страница 1: ...Device manual Inclination sensor 2 axes JN2100 from firmware 2 1 0 80011481 00 10 2014 UK ...

Страница 2: ...ectory OD 10 7 4 1 Communication parameters to CiA DS 301 12 7 5 Service data object SDO mapping 14 7 5 1 System settings 0x2000 0x203F 14 7 5 2 Applicative 0x2040 0x207F 14 7 5 3 System settings 0x4000 0x403F 15 7 5 4 Informative 0x4080 0x40BF 16 7 5 5 Additional functionality 0x5C10 0x 5D30 16 7 5 6 Profile specific part to CiA DSP 410 0x6000 0x9FFF 16 8 Angle definition 2044h 16 8 1 Perpendicul...

Страница 3: ... 10 3 FIR filter SDO index 2049h 24 10 4 Measuring range SDO index 204A h 24 11 Parameter connection set handling 24 11 1 Save the connection set OD index 1010h 24 11 2 Reset the connection set OD index 1011h 25 11 3 Factory reset SDO index 207Fh 25 12 Emergency messages 25 12 1 Failure monitoring 25 12 1 1 Node guarding life guarding 25 12 1 2 Heartbeat 26 12 2 COB IDs 26 12 3 Status LED to CiA D...

Страница 4: ...nstructions 1 1 Symbols used Instructions Reaction result Designation of keys buttons or indications Cross reference Important note Non compliance can result in malfunction or interference Information Supplementary note 2 Safety instructions 2 1 General These instructions are part of the device They contain texts and figures concerning the correct handling of the device and must be read before ins...

Страница 5: ...chines Typical applications are for example the position detection of access platforms levelling of mobile cranes or set up of mobile machines Features 2 axis inclination sensors with a measuring range of 360 180 High accuracy and resolution CANopen interface to CiA DS 301 and device profile CiA DSP 410 The module supports node guarding and heartbeat guard time life time factor as well as heartbea...

Страница 6: ... screws on a flat surface Screw material steel or stainless steel 4 2 Mounting surface The housing must not be exposed to any torsional forces or mechanical stress Use compensating elements if there is no flat mounting surface available 5 Scale drawing 36 4 5 90 75 3 22 45 60 5 3 ...

Страница 7: ...en interface The inclination sensors have a standardised CANopen interface to CiA DS 301 and a device profile to CiA DSP 410 All measured values and parameters can be accessed via the object directory OD The individual configuration can be saved in the internal permanent memory Flash 7 1 CANopen functions The following CANopen functions are available Several transmit data objects TPDO in four poss...

Страница 8: ...ssages are possible The master or network manager can request the sensor via NMT messages to change the state accordingly This allows almost complete separation of redundant or faulty sensors from the bus The inclination sensor from ifm is delivered with the node ID 10 and a baud rate of 125 Kbits s 7 3 Communication types of process data object PDO The request for process data objects is made by ...

Страница 9: ...e 0 to byte 3 Byte 4 to byte 7 Inclination value longitudinal x axis OD index 6110h Inclination value lateral y axis OD index 6120h The third transmit process data object TPDO3 contains the vibration values aPeak and Veff as 32 bit value Byte 0 to byte 3 Byte 4 to byte 7 Veff OD index 5C10h aPeak OD index 5C11h The resolution of the inclination information SDO index 6000h can be configured accordi...

Страница 10: ... time factor rw u8 0 Yes 1010h Save parameters 0 Highest supported sub index r0 u32 1 1 Save all parameters command save 65766173h rw u32 0 1011h Restore factory parameters u32 0 Highest supported sub index r0 u32 1 1 Restore all factory parameters command load 64616F6Ch rw u32 0 1014h 0 COB ID EMCY emergency message ro u32 80h node ID 1015h 0 Disable time between EMCY messages multiple of 100 µs ...

Страница 11: ...ion multiple of 1 ms 0 deactivated rw u16 10 Yes 1801h Transmit PDO2 communication parameter 0 Highest supported sub index ro u8 5 1 COB ID ro u32 280h node ID 2 Type of transmission synchronous asynchronous rw u8 1 Yes 3 Disable time between two TPDO messages multiple of 100 µs rw u16 0 5 Interval time for cycl transmission multiple of 1 ms 0 deactivated rw u16 10 Yes 1802h Transmit PDO3 communic...

Страница 12: ...st supported sub index ro u8 2 Yes 1 Veff ro u32 5C100020h 2 aPeak ro u32 5C110020h Values for error behaviour see 1029h 0 pre operational only if current state is operational 1 no change of state 2 stopped 3 127 reserved 7 4 1 Communication parameters to CiA DS 301 Error register OD index 1001h The error register indicates the general error status of the device Every bit stands for an error group...

Страница 13: ...or entry is added to the error field OD index 1003h and also communicated via an EMCY message Structure of an error entry Byte 0 Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Emergency error code Error register object 1001h Manufacturer specific error field Emergency error code Meaning 00xxh Error reset or no error 10xxh Generic error 31xxh Mains voltage 32xxh Voltage inside the device 41xxh Am...

Страница 14: ... Flag 1 heating on rw 0x2042 0x0 u8 Index teach values of the x y z axes 0 no change 1 set teach relative measurement 2 reset teach absolute measurement rw 0x2043 0x0 u8 FIR filter step 0 FIR deactivated 1 FIR 10 Hz 2 FIR 5 Hz 3 FIR 1 Hz 4 FIR 0 5 Hz rw 0x2044 0x00 u8 Angle calculation 0 perpendicular 1 Euler 2 gimbal 1X 3 gimbal 1Y rw 0x2045 0x00 u8 CAN 120 Ω terminating resistor 0 resistor deact...

Страница 15: ...10 Hz 3 FIR bandpass filter 1 10 Hz 4 FIR bandpass filter 2 400 Hz 5 FIR bandpass filter 10 400 Hz rw 0x204A 0x0 u8 Measuring range for Veff aPeak 0 2 g 1 4 g 2 8 g rw 0x207F 0x0 u8 Factory reset 1 make factory reset rw 7 5 3 System settings 0x4000 0x403F SDO Index Sub index Type Value Unit r w Reset 0x4004 0x0 u8 MEMS self test Number of sub indices r 0x4004 0x01 u8 Flag to activate the self test...

Страница 16: ... Resolution 1d 0 001 10d 0 01 100d 0 1 1000d 1 0 rw 0x6010 0x0 Integer 16 Longitudinal x axis Angle r 0x6020 0x0 Integer 16 Lateral y axis Angle r 0x6110 0x0 Integer 32 Longitudinal x axis Angle r 0x6120 0x0 Integer 32 Lateral y axis Angle r 8 Angle definition 2044h To be able to adapt the inclination sensor to the different applications as easily as possible the measured inclination information i...

Страница 17: ...d lateral inclination value SDO index 6020h or 6120h The value corresponds to the angle between the gravitation vector and the xz plane of the sensor In the case of an inclination in a plane rotation of an axis with the second axis remaining perpendicular the perpendicular angle and gimbal angle are always identical 8 2 Euler angle 0x2044 1 In this setting the two provided angle values are to be i...

Страница 18: ...ion and whose wings in y direction the inclination value longitudinal corresponds to the longitudinal inclination of the plane pitch angle and the inclination value lateral to the bank angle roll angle of the plane Value range Inclination value longitudinal 90 90 Inclination value lateral 180 180 Critical point With a longitudinal inclination of 90 plane flies vertically downwards or upwards the r...

Страница 19: ...y axis of the sensor shows in driving direction of the excavator 1 2 3 4 5 6 Excavator position Perpendicular angle Euler Gimbal X Gimbal Y Longitudinal Lateral Longitudinal Lateral Longitudinal Lateral Longitudinal Lateral 1 0 0 0 Undefined 0 0 0 0 2 0 30 30 0 0 30 0 30 3 20 20 30 45 20 22 22 20 4 30 0 30 90 30 0 30 0 5 30 0 30 90 30 0 30 0 6 0 30 30 180 0 30 0 30 9 Other sensor functions 9 1 Nod...

Страница 20: ...logy a CANopen system is terminated with terminating resistors 120 Ω at the beginning and end If the sensor is at the beginning or end the terminating resistor SDO index 2045h integrated in the sensor can be activated by writing the value 1 9 4 Set teach 2042h In principle all provided inclination values refer to the sensor s coordinate system xs ys zs which is described in chapter 7 6 Should it n...

Страница 21: ...oordinate system of the sensor is transferred to the coordinate system of the workpiece by teaching the sensor when the workpiece is horizontally aligned The raw data of the sensor is indicated in the coordinate system of the sensor In teach mode the data is converted into the coordinate system of the workpiece The example shows a rotation of 30 about the y axis of the coordinate system of the wor...

Страница 22: ... coded in a byte and can be read from the self test register SDO index 4004 02h 00000111 The 3 least significant bits code the internal x y z measurement axes Bit 0 axis faulty bit 1 axis functional 9 8 Temperature of the measuring cell SDO index 4080h The temperature of the measuring cell is determined every 200 ms and updated in the object directory It can be read via SDO access to the object di...

Страница 23: ...ordinate system of the acceleration measuring cell corresponds to the coordinate system of the sensor The mounting plane corresponds to the xy plane and the z axis is perpendicular to the mounting plane The three LSBs of the parameter for the configuration of the measuring plane SDO index 2048h set which measuring axes are included in the calculation of the final result By default the characterist...

Страница 24: ...g to the pre defined connection set with every reset communication application and hardware reset depending on the set node ID SDO index 2000h Make sure that the current parameters connection set always match the current node ID The connection set always refers to the current node ID Therefore set the node ID to the requested value before saving the connection set If the node ID is changed after t...

Страница 25: ...fter a reset of the device The data of the factory setting node ID 10 baud rate 125 Kbits are only valid again after this reset 12 Emergency messages Every inclination sensor supports EMCY messages which are transmitted in the event of sensor temperature hardware or guarding errors If one of these errors occurs the error register OD index 1001h and the pre defined error field OD index 1003h are up...

Страница 26: ...state pre operational If one of the two parameters is 0 default setting the master is not monitored no lifeguarding 12 1 2 Heartbeat Heartbeat is a failure monitoring mechanism which needs no RTR telegrams The sensor cyclically transmits a heartbeat message which contains the device status and can be monitored by the master Heartbeat is activated as soon as a value greater than 0 is entered in the...

Страница 27: ...ED Description On The device is in the state operational Red Off No error Brief lighting once Error counter The CAN controller has reached or exceeded its warning limit Brief lighting twice The device has detected the failure of the guarding master node guard event On The device is in the state bus off 13 Maintenance repair and disposal The unit is maintenance free Dispose of the device in accorda...

Страница 28: ...0x0 u8 FIR filter step angle 2 corresponds to FIR lowpass 5Hz 0x2044 0x0 u8 Angle calculation 0 corresponds to perpendicular 0x2045 0x0 u8 CAN 120 Ω terminating resistor 1 corresponds to activated 0x2046 0x0 u8 Set zero point of the x y axes 2 corresponds to absolute measurement 0x2047 0x0 u8 Ouput value 0 corresponds to angle 0x2048 0x0 u8 Axis selection 7 corresponds to x y z activated 0x2049 0x...

Страница 29: ...UK Inclination sensor JN 29 ...

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