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UK

Inclination sensor JN

15

SDO 

index

Sub-

index

Type

Value

Unit

r/w

Reset

0x3000

0x0

Programming key

  rw

0x4001

0x0

ASCII

Configuration 1 (Manufacturer only)

wo

7.6.3  System settings 0x4000 - 0x403F

SDO 

index

Sub-

index

Type

Value

Unit

r/w

Reset

0x4004

0x0

u8

MEMS self-test 

Number sub-indices

r

0x4004

0x01

u8

Flag to activate the self-test 
Flag = 1 

→

 start self-test

rw

0x4004

0x02

u8

Self-test register
X axis pass 

→

 bit 2 = 1

X axis fail 

→

 bit 2 = 0

Y axis pass 

→

 bit 1 = 1

Y axis fail 

→

  bit 1 = 0

r

7.6.4  Informative 0x4080 - 0x40BF

SDO 

index

Sub-

index

Type

Value

Unit

r/w

Reset

0x4080

0x0

Integer 

32

MEMS temperature 

1/10 °C

r

0x4081

0x0

u16

Heating power

mW

r

7.6.5  Profile-specific part (to CiA DSP-410) 

SDO 

index

Sub-

index

Type

Value

Unit

r/w

Auto-

save / 

Reset

0x6000

0x0

u16

Resolution  

1d       = 0.001° 

10d     = 0.01° 

100d   = 0.1° 

1000d = 1.0°

rw

Yes

0x6010

0x0

Integer 

16

Longitudinal X axis

Angle [°]

rw

Yes

0x6011

0x0

u8

Slope long16 operating parameter

rw

Yes

0x6020

0x0

Integer 

16

Lateral Y axis

Angle [°]

rw

Yes

0x6021

0x0

u8

Slope lateral16 operating parameter

rw

Yes

0x6110

0x0

Integer 

32

Longitudinal X axis

Angle [°]

rw

Yes

0x6111

0x0

u8

Slope long32 operating parameter

r

Содержание JN2101

Страница 1: ...Device manual Inclination sensor 2 axes JN2101 from firmware 2 5 0 80269174 00 08 2017 UK...

Страница 2: ...nication parameters to CiA DS 301 12 7 6 Service data object SDO mapping 14 7 6 1 System settings 0x2000 0x203F 14 7 6 2 Applicative 0x2040 0x207F 14 7 6 3 System settings 0x4000 0x403F 15 7 6 4 Infor...

Страница 3: ...ey SDO index 3000h 22 10 Parameter connection set handling 23 10 1 Save the connection set OD index 1010h 23 10 2 Reset the connection set OD index 1011h 23 10 3 Factory reset SDO index 207Fh 23 11 Em...

Страница 4: ...s used Instructions Reaction result Designation of keys buttons or indications Cross reference Important note Non compliance may result in malfunction or interference Information Supplementary note 2...

Страница 5: ...d band width Configurable limit frequency digital filter for vibration suppression CANopen functions Transmit PDOs RTR cyclical synchronised SYNC consumer synchronised transmission of the transmit PDO...

Страница 6: ...2 1 3 5 1 CAN_SHLD CAN shield 2 CAN_V Supply voltage 24 V DC UB 3 CAN_GND Ground 4 CAN_H High bus cable 5 CAN_L Low bus cable M12 connector CAN In 3 1 2 4 5 1 CAN_SHLD CAN shield 2 CAN_V Supply voltag...

Страница 7: ...t of the general error register manufacturer specific register error list pre defined error field Monitoring mechanisms heartbeat and node guarding life guarding Status and error indication via LED In...

Страница 8: ...en rebooted 7 4 Communication types of process data object PDO The request for process data objects is made by sending a remote transmit request telegram RTR The different transmit PDOs TPDOx can be p...

Страница 9: ...lues Byte 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 resolution of the inclination information SDO index 6000...

Страница 10: ...s 100D h 0 Life time factor rw u8 0 Yes 1010h Save parameters 0 Highest supported sub index r0 u32 1 1 Save all parameters all parameters are saved automatically in case of a change and will be active...

Страница 11: ...manufacturer specific rw u8 1 Yes 3 Disable time between two TPDO messages multiple of 100 m rw u16 0 Yes 5 Interval time for cycl transmission multiple of 1 ms 0 deactivated rw u16 10 Yes 1801h Tran...

Страница 12: ...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 If a bit is set 1 at least one error of this group is acti...

Страница 13: ...ield Emergency error code Meaning 00xxh Error reset or no error 10xxh Generic error 31xxh Mains voltage 32xxh Voltage inside the device 41xxh Ambient temperature 42xxh Device temperature 5010h Sensor...

Страница 14: ...g off 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 for angle meas...

Страница 15: ...fail bit 1 0 r 7 6 4 Informative 0x4080 0x40BF SDO index Sub index Type Value Unit r w Reset 0x4080 0x0 Integer 32 MEMS temperature 1 10 C r 0x4081 0x0 u16 Heating power mW r 7 6 5 Profile specific pa...

Страница 16: ...perpendicular to the plane spanned by the Z and X axes 8 1 Perpendicular angle SDO index 2044h 0 Using the indication of the two perpendicular angles the inclination of the sensor coordinate system t...

Страница 17: ...ice it is to be expected that the value of the second angle will vary very strongly even if the sensor is virtually motionless 8 3 Gimbal angle X SDO index 2044 2 As with the Euler angle the current o...

Страница 18: ...As a result of this the measured values of the gimbal angle X and the gimbal angle Y are identical as long as the measured object is only rotated about one of the sensor s axes The measured values of...

Страница 19: ...ons Using a configurable low pass filter digital FIR filter interfering vibrations can be suppressed The limit frequency of the filter is set via the FIR filter step SDO Index 2043h In the sensor seve...

Страница 20: ...nverted into the new reference system The teach operation can for example be as follows The measured object with the non aligned inclination sensor is brought into a known horizontal position In this...

Страница 21: ...DO index 2041h This has the following effects Reduction of temperature stability Current consumption decreases when operating Accuracies deviate from the indications in the data sheet 9 8 MEMS self te...

Страница 22: ...onding 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 ro...

Страница 23: ...tosave If the node ID and or the baud rate is changed the sensor must be rebooted After the reboot the sensor can be found under the new node ID and baud rate The saved communication profile is called...

Страница 24: ...bit If the status or toggle bit do not correspond to the response expected from the guarding master or no response is given the master assumes a slave error With this mechanism the node to be monitor...

Страница 25: ...SDO client server 600h Node ID 60Ah Standard SDO server client 580h Node ID 58Ah Heartbeat 700h node ID 70Ah 11 3 Status LED The integrated LEDs indicate the current device status run LED green and C...

Страница 26: ...6 Baud rate 125 Kbits 0x2040 0x0 u8 Flag for quadrant correction 1 corresponds to 180 0x2041 0x0 u8 Flag for heating 1 corresponds to heating on 0x2042 0x0 u8 Index teach value of the X Y Z axes 2 cor...

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